Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

This repository contains code for the paper "Bayesian Generalized Kernel Inference for Terrain Traversability Mapping".

Get Started

• Install ROS.

Compile

You can use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/tixiaoshan/BGK_traversability_mapping.git
cd ..
catkin_make

Run

1. Run the launch file:

roslaunch bgk_traversability_mapping run.launch

2. Play existing bag files in this repo:

rosbag play *.bag --clock

Notes: you need to proive the TF transformation between /map and /base_link.

Cite

Thank you for citing our paper if you use any of this code:

@inproceedings{traversability2018,
  title={Bayesian Generalized Kernel Inference for Terrain Traversability Mapping},
  author={Shan, Tixiao and Doherty, Kevin and Wang, Jinkun and Englot, Brendan},
  booktitle={In Proceedings of the 2nd Annual Conference on Robot Learning},
  year={2018}
}