Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras
Name
robotics-05-00025.pdf
Size
6.87 MB
Format
Adobe PDF
Checksum (MD5)
28aa3ce603dee1d1b0e1c90b7a5f457f
Author(s)
Rituerto, Alejandro
Guerrero, José J.
Gonzalez Sanchez, Ramon
Date Issued
November 2016
Journal
Robotics
Publisher
Multidisciplinary Digital Publishing Institute
Citation
Gonzalez, Ramon et al. "Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras." Robotics 5, 4 (November 2016): 25 © The Author(s)
Version
Final published version
Abstract
This paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (∼10% versus ∼20%). Keywords: mobile robotics; computer vision; terrain classification; color and gist descriptors
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.3390/robotics5040025
