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Indoors Traversability Estimation with RGB-Laser Fusion

Christos Sevastopoulos,Michail Theofanidis,Aref Hebri,S. Konstantopoulos,V. Karkaletsis,F. Makedon

Published 2023 in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

ABSTRACT

We propose a dual-stream, semi-supervised, attention-based approach that employs feature fusion of RGB and Laser Range Finder (LRF) modalities. Our method lever-ages the strength of two powerful transformer-based networks, i.e. Vision Transformer (ViT) and SegFormer, along with LRF information, to adequately predict whether the scene encountered in the image is safe for a robot to traverse. Towards this effort, we introduce an automated labelling system profiting from the combination of raw velocity readings and laser scanning information. Moreover, we show that overall GOINO-GO detection is enhanced by fusing RGB and laser modalities. Feature fusion is achieved through the employment of a Multi-Head Self-Attention (MHSA) module. Through cross-domain validation, we show that the proposed traversability estimation method can achieve decent amounts of transferability even with limited amount of training data.

PUBLICATION RECORD

  • Publication year

    2023

  • Venue

    2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

  • Publication date

    2023-08-26

  • Fields of study

    Computer Science, Engineering

  • Identifiers
    DOI 10.1109/CASE56687.2023.10260565
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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