terrain_traversability_analysis.bib

# Survey Papers

@article{papadakis2013terrain,
  title={Terrain traversability analysis methods for unmanned ground vehicles: A survey},
  author={Papadakis, Panagiotis},
  journal={Engineering Applications of Artificial Intelligence},
  volume={26},
  number={4},
  pages={1373--1385},
  year={2013},
  publisher={Elsevier}
}

@article{borges2022survey,
  title={A Survey on Terrain Traversability Analysis for Autonomous Ground Vehicles: Methods, Sensors, and Challenges.},
  author={Borges, Paulo VK and Peynot, Thierry and Liang, Sisi and Arain, Bilal and Wildie, Matt and Minareci, Melih and Lichman, Serge and Samvedi, Garima and Sa, Inkyu and Hudson, Nicolas and others},
  journal={Field Robotics},
  volume={2},
  number={1},
  pages={1567--1627},
  year={2022}
}

@article{guastella2020learning,
  title={Learning-based methods of perception and navigation for ground vehicles in unstructured environments: A review},
  author={Guastella, Dario Calogero and Muscato, Giovanni},
  journal={Sensors},
  volume={21},
  number={1},
  pages={73},
  year={2020},
  publisher={MDPI}
}

@article{sevastopoulos2022survey,
  title={A survey of traversability estimation for mobile robots},
  author={Sevastopoulos, Christos and Konstantopoulos, Stasinos},
  journal={IEEE Access},
  volume={10},
  pages={96331--96347},
  year={2022},
  publisher={IEEE}
}

@article{mortimer2024survey,
  title={Survey on Datasets for Perception in Unstructured Outdoor Environments},
  author={Mortimer, Peter and Maehlisch, Mirko},
  journal={arXiv preprint arXiv:2404.18750},
  year={2024}
}

@article{xu2024transformer,
  title={Transformer-based Traversability Analysis for Autonomous Navigation in Outdoor Environments with Water Hazard},
  author={Xu, Mingrui and Wang, Yinchuan and Zhang, Xiang and Mao, Donghui and Wang, Chaoqun and Song, Rui and Li, Yibin},
  journal={IEEE Transactions on Intelligent Vehicles},
  year={2024},
  publisher={IEEE}
}

@article{fankhauser2018probabilistic,
  title={Probabilistic terrain mapping for mobile robots with uncertain localization},
  author={Fankhauser, P{\'e}ter and Bloesch, Michael and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={4},
  pages={3019--3026},
  year={2018},
  publisher={IEEE}
}

@article{hornung2013octomap,
  title={OctoMap: An efficient probabilistic 3D mapping framework based on octrees},
  author={Hornung, Armin and Wurm, Kai M and Bennewitz, Maren and Stachniss, Cyrill and Burgard, Wolfram},
  journal={Autonomous robots},
  volume={34},
  pages={189--206},
  year={2013},
  publisher={Springer}
}

@inproceedings{oleynikova2017voxblox,
  title={Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning},
  author={Oleynikova, Helen and Taylor, Zachary and Fehr, Marius and Siegwart, Roland and Nieto, Juan},
  booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1366--1373},
  year={2017},
  organization={IEEE}
}

@inproceedings{mescheder2019occupancy,
  title={Occupancy networks: Learning 3d reconstruction in function space},
  author={Mescheder, Lars and Oechsle, Michael and Niemeyer, Michael and Nowozin, Sebastian and Geiger, Andreas},
  booktitle={Proceedings of the IEEE/CVF conference on computer vision and pattern recognition},
  pages={4460--4470},
  year={2019}
}

@article{doherty2019learning,
  title={Learning-aided 3-D occupancy mapping with Bayesian generalized kernel inference},
  author={Doherty, Kevin and Shan, Tixiao and Wang, Jinkun and Englot, Brendan},
  journal={IEEE Transactions on Robotics},
  volume={35},
  number={4},
  pages={953--966},
  year={2019},
  publisher={IEEE}
}

@inproceedings{park2019deepsdf,
  title={Deepsdf: Learning continuous signed distance functions for shape representation},
  author={Park, Jeong Joon and Florence, Peter and Straub, Julian and Newcombe, Richard and Lovegrove, Steven},
  booktitle={Proceedings of the IEEE/CVF conference on computer vision and pattern recognition},
  pages={165--174},
  year={2019}
}

@article{yang2022real,
  title={Real-time neural dense elevation mapping for urban terrain with uncertainty estimations},
  author={Yang, Bowen and Zhang, Qingwen and Geng, Ruoyu and Wang, Lujia and Liu, Ming},
  journal={IEEE Robotics and Automation Letters},
  volume={8},
  number={2},
  pages={696--703},
  year={2022},
  publisher={IEEE}
}

@article{hoeller2022neural,
  title={Neural scene representation for locomotion on structured terrain},
  author={Hoeller, David and Rudin, Nikita and Choy, Christopher and Anandkumar, Animashree and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={4},
  pages={8667--8674},
  year={2022},
  publisher={IEEE}
}

@article{stolzle2022reconstructing,
  title={Reconstructing occluded elevation information in terrain maps with self-supervised learning},
  author={St{\"o}lzle, Maximilian and Miki, Takahiro and Gerdes, Levin and Azkarate, Martin and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={2},
  pages={1697--1704},
  year={2022},
  publisher={IEEE}
}

@inproceedings{shan2018bayesian,
  title={Bayesian generalized kernel inference for terrain traversability mapping},
  author={Shan, Tixiao and Wang, Jinkun and Englot, Brendan and Doherty, Kevin},
  booktitle={Conference on Robot Learning},
  pages={829--838},
  year={2018},
  organization={PMLR}
}

@article{zhao2024roadbev,
  title={RoadBEV: Road Surface Reconstruction in Bird's Eye View},
  author={Zhao, Tong and Yang, Lei and Xie, Yichen and Ding, Mingyu and Tomizuka, Masayoshi and Wei, Yintao},
  journal={arXiv preprint arXiv:2404.06605},
  year={2024}
}

@article{endo2022active,
  title={Active traversability learning via risk-aware information gathering for planetary exploration rovers},
  author={Endo, Masafumi and Ishigami, Genya},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={4},
  pages={11855--11862},
  year={2022},
  publisher={IEEE}
}

@article{cai2023evora,
  title={Evora: Deep evidential traversability learning for risk-aware off-road autonomy},
  author={Cai, Xiaoyi and Ancha, Siddharth and Sharma, Lakshay and Osteen, Philip R and Bucher, Bernadette and Phillips, Stephen and Wang, Jiuguang and Everett, Michael and Roy, Nicholas and How, Jonathan P},
  journal={arXiv preprint arXiv:2311.06234},
  year={2023}
}

@article{ewen2022these,
  title={These maps are made for walking: Real-time terrain property estimation for mobile robots},
  author={Ewen, Parker and Li, Adam and Chen, Yuxin and Hong, Steven and Vasudevan, Ram},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={3},
  pages={7083--7090},
  year={2022},
  publisher={IEEE}
}

@INPROCEEDINGS{Fan-RSS-21, 
    AUTHOR    = {David D. Fan AND Kyohei Otsu AND Yuki Kubo AND Anushri Dixit AND Joel Burdick AND Ali-akbar Agha-mohammadi}, 
    TITLE     = {{STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2021}, 
    ADDRESS   = {Virtual}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2021.XVII.021} 
} 

@inproceedings{frey2022locomotion,
  title={Locomotion policy guided traversability learning using volumetric representations of complex environments},
  author={Frey, Jonas and Hoeller, David and Khattak, Shehryar and Hutter, Marco},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5722--5729},
  year={2022},
  organization={IEEE}
}

@inproceedings{lee2021self,
  title={A self-training approach-based traversability analysis for mobile robots in urban environments},
  author={Lee, Hyunsuk and Chung, Woojin},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={3389--3394},
  year={2021},
  organization={IEEE}
}

@inproceedings{inotsume2021adaptive,
  title={Adaptive terrain traversability prediction based on multi-source transfer gaussian processes},
  author={Inotsume, Hiroaki and Kubota, Takashi},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={2297--2304},
  year={2021},
  organization={IEEE}
}

@article{ruetz2024foresttrav,
  title={ForestTrav: 3D LiDAR-only forest traversability estimation for autonomous ground vehicles},
  author={Ruetz, Fabio and Lawrance, Nicholas and Hern{\'a}ndez, Emili and Borges, Paulo and Peynot, Thierry},
  journal={IEEE Access},
  year={2024},
  publisher={IEEE}
}

@inproceedings{ruetz2022forest,
  title={Forest Traversability Mapping (FTM): Traversability estimation using 3D voxel-based Normal Distributed Transform to enable forest navigation},
  author={Ruetz, Fabio and Borges, Paulo and Suenderhauf, Niko and Hern{\'a}ndez, Emili and Peynot, Thierry},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={8714--8721},
  year={2022},
  organization={IEEE}
}

@article{chavez2018learning,
  title={Learning ground traversability from simulations},
  author={Chavez-Garcia, R Omar and Guzzi, J{\'e}r{\^o}me and Gambardella, Luca M and Giusti, Alessandro},
  journal={IEEE Robotics and Automation letters},
  volume={3},
  number={3},
  pages={1695--1702},
  year={2018},
  publisher={IEEE}
}

@inproceedings{suger2015traversability,
  title={Traversability analysis for mobile robots in outdoor environments: A semi-supervised learning approach based on 3D-lidar data},
  author={Suger, Benjamin and Steder, Bastian and Burgard, Wolfram},
  booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={3941--3946},
  year={2015},
  organization={IEEE}
}

@article{santamaria2015terrain,
  title={Terrain classification in complex three-dimensional outdoor environments},
  author={Santamaria-Navarro, {\`A}ngel and Teniente, Ernesto H and Morta, Marti and Andrade-Cetto, Juan},
  journal={Journal of Field Robotics},
  volume={32},
  number={1},
  pages={42--60},
  year={2015},
  publisher={Wiley Online Library}
}

@article{guan2022ga,
  title={Ga-nav: Efficient terrain segmentation for robot navigation in unstructured outdoor environments},
  author={Guan, Tianrui and Kothandaraman, Divya and Chandra, Rohan and Sathyamoorthy, Adarsh Jagan and Weerakoon, Kasun and Manocha, Dinesh},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={3},
  pages={8138--8145},
  year={2022},
  publisher={IEEE}
}

@inproceedings{sathyamoorthy2022terrapn,
  title={Terrapn: Unstructured terrain navigation using online self-supervised learning},
  author={Sathyamoorthy, Adarsh Jagan and Weerakoon, Kasun and Guan, Tianrui and Liang, Jing and Manocha, Dinesh},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={7197--7204},
  year={2022},
  organization={IEEE}
}

@inproceedings{goh2022mars,
  title={Mars terrain segmentation with less labels},
  author={Goh, Edwin and Chen, Jingdao and Wilson, Brian},
  booktitle={2022 IEEE Aerospace Conference (AERO)},
  pages={1--10},
  year={2022},
  organization={IEEE}
}

@article{bekhti2020regressed,
  title={Regressed terrain traversability cost for autonomous navigation based on image textures},
  author={Bekhti, Mohammed Abdessamad and Kobayashi, Yuichi},
  journal={Applied Sciences},
  volume={10},
  number={4},
  pages={1195},
  year={2020},
  publisher={MDPI}
}

@article{procopio2009learning,
  title={Learning terrain segmentation with classifier ensembles for autonomous robot navigation in unstructured environments},
  author={Procopio, Michael J and Mulligan, Jane and Grudic, Greg},
  journal={Journal of Field Robotics},
  volume={26},
  number={2},
  pages={145--175},
  year={2009},
  publisher={Wiley Online Library}
}

@inproceedings{schmid2022self,
  title={Self-supervised traversability prediction by learning to reconstruct safe terrain},
  author={Schmid, Robin and Atha, Deegan and Sch{\"o}ller, Frederik and Dey, Sharmita and Fakoorian, Seyed and Otsu, Kyohei and Ridge, Barry and Bjelonic, Marko and Wellhausen, Lorenz and Hutter, Marco and others},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={12419--12425},
  year={2022},
  organization={IEEE}
}

@article{wellhausen2020safe,
  title={Safe robot navigation via multi-modal anomaly detection},
  author={Wellhausen, Lorenz and Ranftl, Ren{\'e} and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={2},
  pages={1326--1333},
  year={2020},
  publisher={IEEE}
}

@article{wellhausen2019should,
  title={Where should i walk? predicting terrain properties from images via self-supervised learning},
  author={Wellhausen, Lorenz and Dosovitskiy, Alexey and Ranftl, Ren{\'e} and Walas, Krzysztof and Cadena, Cesar and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  number={2},
  pages={1509--1516},
  year={2019},
  publisher={IEEE}
}

@inproceedings{hirose2018gonet,
  title={Gonet: A semi-supervised deep learning approach for traversability estimation},
  author={Hirose, Noriaki and Sadeghian, Amir and V{\'a}zquez, Marynel and Goebel, Patrick and Savarese, Silvio},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3044--3051},
  year={2018},
  organization={IEEE}
}

@inproceedings{barnes2017find,
  title={Find your own way: Weakly-supervised segmentation of path proposals for urban autonomy},
  author={Barnes, Dan and Maddern, Will and Posner, Ingmar},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={203--210},
  year={2017},
  organization={IEEE}
}

@inproceedings{libby2021multiclass,
  title={Multiclass terrain classification using sound and vibration from mobile robot terrain interaction},
  author={Libby, Jacqueline and Stentz, Anthony},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={2305--2312},
  year={2021},
  organization={IEEE}
}

@article{valada2017deep,
  title={Deep spatiotemporal models for robust proprioceptive terrain classification},
  author={Valada, Abhinav and Burgard, Wolfram},
  journal={The International Journal of Robotics Research},
  volume={36},
  number={13-14},
  pages={1521--1539},
  year={2017},
  publisher={SAGE Publications Sage UK: London, England}
}

@INPROCEEDINGS{Guan-RSS-22, 
    AUTHOR    = {Tianrui Guan AND Zhenpeng He AND Ruitao Song AND Dinesh Manocha AND Liangjun Zhang}, 
    TITLE     = {{TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2022}, 
    ADDRESS   = {New York City, NY, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2022.XVIII.049} 
}

@article{zurn2020self,
  title={Self-supervised visual terrain classification from unsupervised acoustic feature learning},
  author={Z{\"u}rn, Jannik and Burgard, Wolfram and Valada, Abhinav},
  journal={IEEE Transactions on Robotics},
  volume={37},
  number={2},
  pages={466--481},
  year={2020},
  publisher={IEEE}
}

@inproceedings{castro2023does,
  title={How does it feel? self-supervised costmap learning for off-road vehicle traversability},
  author={Castro, Mateo Guaman and Triest, Samuel and Wang, Wenshan and Gregory, Jason M and Sanchez, Felix and Rogers, John G and Scherer, Sebastian},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={931--938},
  year={2023},
  organization={IEEE}
}

@article{waibel2022rough,
  title={How rough is the path? terrain traversability estimation for local and global path planning},
  author={Waibel, Gabriel G{\"u}nter and L{\"o}w, Tobias and Nass, Mathieu and Howard, David and Bandyopadhyay, Tirthankar and Borges, Paulo Vinicius Koerich},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  volume={23},
  number={9},
  pages={16462--16473},
  year={2022},
  publisher={IEEE}
}

@inproceedings{fusaro2022hybrid,
  title={An hybrid approach to improve the performance of encoder-decoder architectures for traversability analysis in urban environments},
  author={Fusaro, Daniel and Olivastri, Emilio and Evangelista, Daniele and Iob, Pietro and Pretto, Alberto},
  booktitle={2022 IEEE Intelligent Vehicles Symposium (IV)},
  pages={1745--1750},
  year={2022},
  organization={IEEE}
}

@inproceedings{schilling2017geometric,
  title={Geometric and visual terrain classification for autonomous mobile navigation},
  author={Schilling, Fabian and Chen, Xi and Folkesson, John and Jensfelt, Patric},
  booktitle={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={2678--2684},
  year={2017},
  organization={IEEE}
}

@article{kahn2021badgr,
  title={Badgr: An autonomous self-supervised learning-based navigation system},
  author={Kahn, Gregory and Abbeel, Pieter and Levine, Sergey},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={1312--1319},
  year={2021},
  publisher={IEEE}
}

@article{hu2021sim,
  title={A sim-to-real pipeline for deep reinforcement learning for autonomous robot navigation in cluttered rough terrain},
  author={Hu, Han and Zhang, Kaicheng and Tan, Aaron Hao and Ruan, Michael and Agia, Christopher and Nejat, Goldie},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={4},
  pages={6569--6576},
  year={2021},
  publisher={IEEE}
}

@INPROCEEDINGS{weerakoon2022terp,
  title={TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning}, 
  author={Weerakoon, Kasun and Sathyamoorthy, Adarsh Jagan and Patel, Utsav and Manocha, Dinesh},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
  pages={9447-9453},
  year={2022},
  organization={IEEE}
}

@INPROCEEDINGS{maffei2020exploration,
  title={Exploration of 3D terrains using potential fields with elevation-based local distortions}, 
  author={Maffei, Renan and Souza, Marcos P. and Mantelli, Mathias and Pittol, Diego and Kolberg, Mariana and Jorge, Vitor A. M.},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, 
  pages={4239-4244},
  year={2020},
  organization={IEEE}
}

@INPROCEEDINGS{nardi2020long,
  title={Long-Term Robot Navigation in Indoor Environments Estimating Patterns in Traversability Changes}, 
  author={Nardi, Lorenzo and Stachniss, Cyrill},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, 
  year={2020},
  pages={300-306},
  organization={IEEE}
}

@ARTICLE{jenelten2020perceptive,
  title={Perceptive Locomotion in Rough Terrain – Online Foothold Optimization}, 
  author={Jenelten, Fabian and Miki, Takahiro and Vijayan, Aravind E and Bjelonic, Marko and Hutter, Marco},
  journal={IEEE Robotics and Automation Letters}, 
  volume={5},
  number={4},
  pages={5370-5376},
  year={2020},
  publisher={IEEE}
}

@article{krsi2017driving, 
title = {{Driving on Point Clouds: Motion Planning, Trajectory Optimization, and Terrain Assessment in Generic Nonplanar Environments}}, 
author = {Krüsi, Philipp and Furgale, Paul and Bosse, Michael and Siegwart, Roland}, 
journal = {Journal of Field Robotics}, 
volume = {34}
number = {5}, 
pages = {940--984}, 
year = {2017},
publisher = {Wiley Online Library}
}

@INPROCEEDINGS{wermelinger2016navigation,
  title={Navigation planning for legged robots in challenging terrain}, 
  author={Wermelinger, Martin and Fankhauser, Péter and Diethelm, Remo and Krüsi, Philipp and Siegwart, Roland and Hutter, Marco},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  volume={},
  number={},
  pages={1184-1189},
  year={2016},
  organization={IEEE}
}

@INPROCEEDINGS{tanaka2015fuzzy,
  title={Fuzzy based traversability analysis for a mobile robot on rough terrain}, 
  author={Tanaka, Yusuke and Ji, Yonghoon and Yamashita, Atsushi and Asama, Hajime},
  booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)}, 
  volume={},
  number={},
  pages={3965-3970},
  year={2015},
  organization={IEEE}
}