{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/safe-robot-navigation-via-multi-modal-anomaly","title":"Safe Robot Navigation via Multi-Modal Anomaly Detection","arxiv_id":"2001.07934","date":"2020-01-22","proceeding":null,"authors":["Lorenz Wellhausen","René Ranftl","Marco Hutter"],"abstract":"Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain but tend to provide overconfident predictions when presented with out-of-distribution samples, which can lead to catastrophic failure when navigating unknown environments. We propose to overcome this issue by using anomaly detection on multi-modal images for traversability classification, which is easily scalable by training in a self-supervised fashion from robot experience. In this work, we evaluate multiple anomaly detection methods with a combination of uni- and multi-modal images in their performance on data from different environmental conditions. Our results show that an approach using a feature extractor and normalizing flow with an input of RGB, depth and surface normals performs best. It achieves over 95% area under the ROC curve and is robust to out-of-distribution samples.","url_abs":"http://arxiv.org/abs/2001.07934v1","url_pdf":"http://arxiv.org/pdf/2001.07934v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"safe-robot-navigation-via-multi-modal-anomaly","repo_url":"https://github.com/leggedrobotics/anomaly_navigation","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}