TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers

<div>The top view of the 2.5D elevation map. (a) The 2.5D elevation map without semantic labels. (b) The 2.5D elevation map fused with the semantic labels. The green region represents the Martian surface is covered by bedrocks.</div>

International Journal of Aerospace Engineering

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Figure 5

Figure 5: TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers 