VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
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DOI：
10.1109/iros47612.2022.9982060
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发表时间：
2022-03
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通讯作者：
Haresh Karnan;Kavan Singh Sikand;P. Atreya;Sadegh Rabiee;Xuesu Xiao;Garrett Warnell;P. Stone;Joydeep Biswas
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作者：
Haresh Karnan;Kavan Singh Sikand;P. Atreya;Sadegh Rabiee;Xuesu Xiao;Garrett Warnell;P. Stone;Joydeep Biswas
在地面车辆上进行高速越野导航的关键挑战之一是，车辆-地形相互作用的运动学可能会因地形的不同而显著不同。以前解决这一挑战的方法都考虑学习逆运动学(IKD)模型，该模型以车辆的惯性信息为条件来感知运动学相互作用。在本文中，我们假设，为了能够使用学习的IKD模型进行准确的高速越野导航，除了过去的惯性信息外，还必须预测未来车辆与地形的运动学相互作用。为此，我们引入了视觉-惯性逆运动学(VI-IKD)，这是一种新的基于学习的IKD模型，除了过去的惯性信息外，它还基于机器人前面的地形块的视觉信息，使其能够预测未来的运动学交互。我们在1/5 UT-AlphaTruck越野自动驾驶车辆上进行了室内和室外环境下的实验，验证了VI-IKD在精确高速越野导航中的有效性，并表明与其他最先进的方法相比，VI-IKD能够在各种不同的地形上以高达3.5米/S的速度实现更准确和更稳健的越野导航。
One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model, conditioned on inertial information of the vehicle to sense the kinodynamic interactions. In this paper, we hypothesize that to enable accurate high-speed off-road navigation using a learned IKD model, in addition to inertial information from the past, one must also anticipate the kinodynamic interactions of the vehicle with the terrain in the future. To this end, we introduce Visual-Inertial Inverse Kinodynamics (VI-IKD), a novel learning based IKD model that is conditioned on visual information from a terrain patch ahead of the robot in addition to past inertial information, enabling it to anticipate kinodynamic interactions in the future. We validate the effectiveness of VI-IKD in accurate high-speed off-road navigation experimentally on a scale 1/5 UT-AlphaTruck off-road autonomous vehicle in both indoor and outdoor environments and show that compared to other state-of-the-art approaches, VI-IKD enables more accurate and robust off-road navigation on a variety of different terrains at speeds of up to 3.5m/s.