Fig. 3
From: Terrain traversability prediction for off-road vehicles based on multi-source transfer learning
Experiment system. The tiltable test field is covered with one of the surface materials in Fig. 4. The four-wheeled test vehicle is equipped with motor encoders, motor drivers, and a stereo camera with a built-in IMU for traverse data collection. The vehicle slip and terrain inclination are estimated from the wheel odometry and VI-SLAM. The electric power consumption of actuators is estimated from the voltage and current applied to the motors, which are monitored at the motor drivers