GND: Global Navigation Dataset with Multi-Modal Perception and
Multi-Category Traversability in Outdoor Campus Environments
GND: Global Navigation Dataset with Multi-Modal Perception and
Multi-Category Traversability in Outdoor Campus Environments
Navigating large-scale outdoor environments requires complex reasoning in terms of geometric structures, environmental semantics, and terrain characteristics, which are typically captured by onboard sensors such as LiDAR and cameras. While current mobile robots can navigate such environments using pre-defined, high-precision maps based on hand-crafted rules catered for the specific environment, …