Automatically classifying terrain such as rocks, sand and gravel from images is a challenging machine vision problem. In addition to human designed approaches, a great deal of progress has been made using machine learning techniques to perform classification from images. In this work, we demonstrate the first known use of Cartesian Genetic Programming (CGP) to this problem. Our CGP for Image Pr...

During the last decade various techniques have been proposed to extract the ground surface from airborne LIDAR data. The basic problem is the separation of terrain points from off-terrain points which are both recorded by the LIDAR sensor. In particular geometry driven filtering, detection or classification procedures are developed which use knowledge to find points, e.g. on buildings or vegeta...

The ability to perceive and analyze terrain is a key problem in mobile robot navigation. Terrain perception problems arise in planetary robotics, agriculture, mining, and, of course, self-driving cars. Here, we introduce the PTA (probabilistic terrain analysis) algorithm for terrain classification with a fastmoving robot platform. The PTA algorithm uses probabilistic techniques to integrate ran...

We investigate the effect of moisture on the dielectric permittivity and surface roughness with backscatter response from four different barefaced terrain. They represent four classes in the Wentworth grain size classification scale. We improve on previous technique used to remotely identify oil sand reservoirs through accurate modeling of the terrain electromagnetic (EM) reflectivity. First we...

The investigation addresses three main issues: The first concerns a study of the terrain relief classification for the purpose of composite sampling. The second issue concerns quality assessment models that are used to assess the quality of representa~ion pf ideal geometric primitives and of real terrain relief representation. The third issue concerns the performance of composite sampling when ...

1 0-7803-8155-6/04/$17.00©2004 IEEE 2 IEEEAC paper #1121, Version 2, Updated July 29, 2003 Abstract—Future planetary exploration missions will require rovers to perform difficult tasks in rough terrain, with limited human supervision. Knowledge of terrain physical characteristics would allow a rover to adapt its control and planning strategies to maximize its effectiveness. This paper describes...

As the evolution in robotic technology is continuing, robots are more and more leaving the protected lab environment and entering the unstructured and complex outside world, e.g. for applications such as humanitarian demining or more generic crisis management tasks. Contrary to the indoor case, any robotic system which needs to navigate through an unstructured outdoor environment requires a mea...

Abstract Legged robots have potential advantages in mobility compared with wheeled outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role improving the stability legged robots. A terrain classification method for a hexapod robot named Qingzhui is proposed this paper. First, force-based suggested. Grou...