VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation

arXiv:2609.17834 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/PRBonn/kiss-icp

Terminology

• Consistency — 3× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Admissibility — 1× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• Towards Capability-Aware Traversability Navigation for Unstructured Environments
• How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
• Hybrid Terrain-Aware Path Planning: Integrating VD-RRT* Exploration and VD-D* Lite Repair
• GOOSE-M2F: Adapting Mask2Former for High-Fidelity, Long-Tailed Fine-Grained Semantic Segmentation in Unstructured Outdoor Terrain

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