Terrain Traversability Analysis in Uneven Environments

Navigating mobile robots in uneven terrain poses significant challenges. To ensure successful goal-directed navigation, it is crucial to accurately assess the traversability of the surrounding terrain. This paper presents a traversability analysis method specifically designed for uneven terrains, integrating semantic segmentation and geometric terrain analysis to provide a comprehensive evaluation of traversability. First, coarse-grained semantic segmentation is utilized to extract semantic terrain information and identify navigable regions. Then, a plane-fitting approach is employed to analyze geometric terrain properties, including key factors such as slope and roughness. Experimental results demonstrate that the proposed method effectively enhances the accuracy of traversability assessment, reduces the risk of wheeled robots navigating uneven terrains, and provides reliable support for subsequent path planning.