A terrain classi cation method for planetary rover utilizing dynamic texture

Koki Fujita, Naoyuki Ichimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A novel terrain classification technique utilizing motion image sequence taken from planetary rover on-board camera is proposed. The proposed method has an advantage in that it can remotely estimate types of surrounding tarrains, and also has possibility to distinguish properties with dynamic interaction between rover body (wheels) and terrain surface. The characteristics of terrain image sequence is recognized based on a linear dynamical system model called Dynamic Texture. The Dynamic Texture is estimated as a set of parameter matrices, which construct a parameter space such as an observability space. In this paper, experimental results are shown to validate the proposed scheme based on real terrain image sequences obtained from a testbed. And the recognition rates for several distance measures computed from the estimated Dynamic Texture models are evaluated.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
Publication statusPublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

Fingerprint

Textures
Positive ions
Observability
Testbeds
Dynamic models
Wheels
Dynamical systems
Cameras

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Fujita, K., & Ichimura, N. (2011). A terrain classi cation method for planetary rover utilizing dynamic texture. In AIAA Guidance, Navigation, and Control Conference 2011 (AIAA Guidance, Navigation, and Control Conference 2011).

A terrain classi cation method for planetary rover utilizing dynamic texture. / Fujita, Koki; Ichimura, Naoyuki.

AIAA Guidance, Navigation, and Control Conference 2011. 2011. (AIAA Guidance, Navigation, and Control Conference 2011).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fujita, K & Ichimura, N 2011, A terrain classi cation method for planetary rover utilizing dynamic texture. in AIAA Guidance, Navigation, and Control Conference 2011. AIAA Guidance, Navigation, and Control Conference 2011, AIAA Guidance, Navigation and Control Conference 2011, Portland, OR, United States, 8/8/11.
Fujita K, Ichimura N. A terrain classi cation method for planetary rover utilizing dynamic texture. In AIAA Guidance, Navigation, and Control Conference 2011. 2011. (AIAA Guidance, Navigation, and Control Conference 2011).
Fujita, Koki ; Ichimura, Naoyuki. / A terrain classi cation method for planetary rover utilizing dynamic texture. AIAA Guidance, Navigation, and Control Conference 2011. 2011. (AIAA Guidance, Navigation, and Control Conference 2011).
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