This repository includes simulated data from traversability robot traversability and code to train a CNN traversability estimator.
Contains data from simulated trajectories in v-rep simulator. Data is in cvs. A meta_ file stores all the corresponding cvs files and png heightmaps for a each trajectory.
Heightmaps are store in heightmaps folder.
Contains scripts for generating traversability datasets training a CNN estimator and estimating traversability on evaluation heightmaps.
Here are some results from the traversability estimation approached.
Animation of the mining quarry elevation map.
Overlay of minimum traversability estimation on the mining quarry. Traversability for 32 different orientations were computed, then the minimum traversability estimation for each patch was chosen. Green indicates traversability.
In order to test the source code, these frameworks/libraries are needed.
- python 3.5.3
- numpy 1.12.1
- matplotlib 2.0.0
- pandas 0.19.2
- tensorflow-gpu 1.0
- keras 2.0.3
- scikit-learn 0.18.1
- scikit-image 0.13.0
- joblib 0.11