Fig. 2

Outline of traversability model learning based on multi-source transfer Gaussian process regression [6]. The domain similarity \(\lambda _i\) between each source \(S_i\) and target T domain, as well as the single TGPR model between them, are learned from the data present in \(S_i\) and T. The prediction model for the target domain is then built as an ensemble of all TGPR models. The importance of each model is determined from \(\lambda _i\)