A rover or semi-autonomous or autonomous vehicle may use an image classifier to determine a terrain class of regions of an image of the terrain ahead of the rover or vehicle. The regions of the images are used to estimate the slope of the terrain for the different regions. The terrain class and slope are used to predict an amount of slip the rover will experience when traversing the terrain of the different regions. A heuristic mapping for the terrain class may be applied to the predicted slip amount to determine a hazard level for the rover or vehicle traversing the terrain.