Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning

• Published in: IEEE robotics and automation letters Vol. 4; no. 2; pp. 1509 - 1516
• Main Authors: Wellhausen, Lorenz, Dosovitskiy, Alexey, Ranftl, Rene, Walas, Krzysztof, Cadena, Cesar, Hutter, Marco
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous navigation; Cameras; Data acquisition; Image acquisition; Image segmentation; Legged locomotion; Navigation; Neural networks; Predictions; Properties (attributes); Robot kinematics; Robot vision systems; Robots; Self-supervised learning; Semantic scene understanding; Terrain; visual learning; visual-based navigation
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2019.2895390

Legged robots have the potential to traverse diverse and rugged terrain. To find a safe and efficient navigation path and to carefully select individual footholds, it is useful to be able to predict properties of the terrain ahead of the robot. In this letter, we propose a method to collect data from robot-terrain interaction and associate it to images. Using sparse data acquired in teleoperation experiments with a quadrupedal robot, we train a neural network to generate a dense prediction of the terrain properties in front of the robot. To generate training data, we project the foothold positions from the robot trajectory into on-board camera images. We then attach labels to these footholds by identifying the dominant features of the force-torque signal measured with sensorized feet. We show that data collected in this fashion can be used to train a convolutional network for terrain property prediction as well as weakly supervised semantic segmentation. Finally, we show that the predicted terrain properties can be used for autonomous navigation of the ANYmal quadruped robot.