منابع مشابه
Obstacle Detection and Terrain Classification for Autonomous Off-Road Navigation
Autonomous navigation in cross-country environments presents many new challenges with respect to more traditional, urban environments. The lack of highly structured components in the scene complicates the design of even basic functionalities such as obstacle detection. In addition to the geometric description of the scene, terrain typing is also an important component of the perceptual system. ...
متن کاملRoad Terrain Type Classification based on Laser Measurement System Data
For road vehicles, knowledge of terrain types is useful in improving passenger safety and comfort. The conventional methods are susceptible to vehicle speed variations and in this paper we present a method of using Laser Measurement System (LMS) data for speed independent road type classification. Experiments were carried out with an instrumented road vehicle (CRUISE), by manually driving on a ...
متن کاملVisual Terrain Classification For Legged Robots
Visual Terrain Classification For Legged Robots Paul Filitchkin Recent work in terrain classification has relied largely on 3D sensing methods and color based classification. We present an approach that works with a single, compact camera and maintains high classification rates that are robust to changes in illumination. Terrain is classified using a bag of visual words (BOVW) created from spee...
متن کاملUnsupervised Learning for Mobile Robot Terrain Classification
In this thesis, we consider the problem of having a mobile robot autonomously learn to perceive differences between terrains. The targeted application is for terrain identification. Robust terrain identification can be used to enhance the capabilities of mobile systems, both in terms of locomotion and navigation. For example, a legged amphibious robot that has learned to differentiate sand from...
متن کاملVisual Terrain Classification for Outdoor Mobile Robots
In this thesis we present a comparison of multiple approaches to visual terrain classification for outdoor mobile robots based on local features. For this purpose, we put a camera on a mobile robot and use it to capture images which are then analyzed to recognize the terrains present in these images. There are two sets of approaches that we use to classify terrains. The first is based on greysc...
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ژورنال
عنوان ژورنال: Journal of the Korean Society of Road Engineers
سال: 2011
ISSN: 1738-7159
DOI: 10.7855/ijhe.2011.13.4.221