Continuous Online Semantic Implicit Representation for Autonomous Ground Robot Navigation in Unstructured Environments

While mobile ground robots have now the physical capacity of travelling in unstructured challenging environments such as extraterrestrial surfaces or devastated terrains, their safe and efficient autonomous navigation has yet to be improved before entrusting them with complex unsupervised missions in such conditions. Recent advances in machine learning applied to semantic scene understanding and environment representations, coupled with modern embedded computational means and sensors hold promising potential in this matter. This paper therefore introduces the combination of semantic understanding, continuous implicit environment representation and smooth informed path-planning in a new method named COSMAu-Nav. It is specifically dedicated to autonomous ground robot navigation in unstructured environments and adaptable for embedded, real-time usage without requiring any form of telecommunication. Data clustering and Gaussian processes are employed to perform online regression of the environment topography, occupancy and terrain traversability from 3D semantic point clouds while providing an uncertainty modeling. The continuous and differentiable properties of Gaussian processes allo