# DGT-Map: Directional Global Traversability Mapping with Multi-Task Learning for Heterogeneous Vehicles

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/af3a59whzgfzt9uxji9q0pi4v
- Original: https://arxiv.org/abs/2609.30461

## Summary

DGT-Map proposes a self-supervised framework that learns global, directional, and vehicle-conditioned traversability costmaps from RGB-D observations and locomotion signals. It uses a shared multi-task backbone to learn common terrain features across vehicles, while vehicle-specific prediction heads preserve platform-dependent responses. At inference, it outputs a heading-indexed costmap for use by direction-aware planners.