TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation

Understand

Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime.

• Despite success in structured, on-road settings, current end-to-end approaches for scene prediction have yet to be successfully adapted for complex outdoor terrain.
• To this end, we present TerrainNet, a vision-based terrain perception system for semantic and geometric terrain prediction for aggressive, off-road navigation.
• The approach relies on several key insights and practical considerations for achieving reliable terrain modeling.