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GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments [article]

Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha
2022 arXiv   pre-print
We propose GANav, a novel group-wise attention mechanism to identify safe and navigable regions in off-road terrains and unstructured environments from RGB images.  ...  Our novel group-wise attention loss enables any backbone network to explicitly focus on the different groups' features with low spatial resolution.  ...  In this paper, our goal is to identify such safe and navigable regions in unstructured outdoor environments from RGB images.  ... 
arXiv:2103.04233v3 fatcat:h463cpemjbcotnlh4wgkujomxq