FSGP-BGK: Real-time Spatial-temporal Traversability Assessment

Official implementation of our feature-based sparse Gaussian process method for real-time terrain analysis and autonomous navigation (IROS 2025).

Features

• Sparse Gaussian Process (SGP) with inducing points for efficient computation
• Bayesian Generalized Kernel (BGK) for uncertainty estimation
• GPU acceleration with CUDA/CuPy support
• ROS1 (Noetic) and ROS2 (Humble) support
• 3D simulation environment with simulated LiDAR

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Dependencies

# Python
pip install numpy open3d gpytorch torch cupy-cuda11x scikit-learn pyyaml

# ROS1 (Noetic)
sudo apt install ros-noetic-tf2-eigen ros-noetic-pcl-ros ros-noetic-teleop-twist-keyboard

# ROS2 (Humble)
sudo apt install ros-humble-tf2-eigen ros-humble-pcl-ros ros-humble-teleop-twist-keyboard

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ROS1 (Noetic)

Build

cd ~/FSGP-BGK-ROS2

# Ignore ROS2 package (required before build)
touch src/simulation_env_ros2/CATKIN_IGNORE

# Build
catkin_make
source devel/setup.bash

Run Simulation

# Terminal 1 - Launch simulation
source devel/setup.bash
roslaunch simulation_env_ros1 simulation.launch

# Terminal 2 - Keyboard control
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

# Terminal 3 - Run FSGP-BGK node
cd src/fsgp_bgk/python
python node_ros1.py

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ROS2 (Humble)

Build

cd ~/FSGP-BGK-ROS2

# Ignore ROS1 package (required before build)
touch src/simulation_env_ros1/COLCON_IGNORE

# Build
colcon build
source install/setup.bash

Run Simulation

# Terminal 1 - Launch simulation
source install/setup.bash
ros2 launch simulation_env simulation.launch.py

# Terminal 2 - Keyboard control
ros2 run teleop_twist_keyboard teleop_twist_keyboard

# Terminal 3 - Run FSGP-BGK node
cd src/fsgp_bgk/python
python node_ros2.py

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Workspace Structure

Package	Description	ROS Version
simulation_env_ros1	Simulation environment	ROS1 Noetic
simulation_env_ros2	Simulation environment	ROS2 Humble
fsgp_bgk	FSGP-BGK algorithm (Python)	Both (run directly)

Note: fsgp_bgk is a pure Python package, run it directly without building.

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Configuration

Edit parameters in:

• ROS1: src/simulation_env_ros1/config/params.yaml
• ROS2: src/simulation_env_ros2/config/params.yaml
• FSGP-BGK: src/fsgp_bgk/config/params.yaml

Important: Update pcd_file_path to your local path before running.

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Keyboard Controls

Key	Action
i	Forward
,	Backward
j	Turn left
l	Turn right
k	Stop
q/z	Increase/decrease speed

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License

MIT License