TY - JOUR
T1 - Classifying terrain properties for planetary exploration rovers based on a combined distance measure with dynamic texture model
AU - Fujita, Koki
AU - Ichimura, Naoyuki
N1 - Publisher Copyright:
© 2015 Elsevier B.V. All rights reserved.
PY - 2015/8/1
Y1 - 2015/8/1
N2 - Non-geometric terrain properties surrounding a planetary exploration rover can be exploited to improve autonomous mobility of the rover. This paper shows a method to classify non-geometric terrain properties using image sequences obtained from onboard cameras. Our method is based on a Dynamic Texture analysis, which is a technique to estimate scene motion in image sequences. Using Dynamic Textures, we can incorporate a motion cue to classify not only soil types but also the velocities of a rover relative to terrain surface representing slippage due to terrains. First, we briefly show a learning algorithm for Dynamic Textures. Then we propose a combined distance measure for classification. Combining distance measures is useful to handle different properties of terrain, that is, a static property such as soil types and a dynamic property such as the velocities. The effectiveness of the combined distance measure for improving classification performance is demonstrated through experimental runs of two rover testbeds on sand pits.
AB - Non-geometric terrain properties surrounding a planetary exploration rover can be exploited to improve autonomous mobility of the rover. This paper shows a method to classify non-geometric terrain properties using image sequences obtained from onboard cameras. Our method is based on a Dynamic Texture analysis, which is a technique to estimate scene motion in image sequences. Using Dynamic Textures, we can incorporate a motion cue to classify not only soil types but also the velocities of a rover relative to terrain surface representing slippage due to terrains. First, we briefly show a learning algorithm for Dynamic Textures. Then we propose a combined distance measure for classification. Combining distance measures is useful to handle different properties of terrain, that is, a static property such as soil types and a dynamic property such as the velocities. The effectiveness of the combined distance measure for improving classification performance is demonstrated through experimental runs of two rover testbeds on sand pits.
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U2 - 10.1016/j.robot.2015.02.011
DO - 10.1016/j.robot.2015.02.011
M3 - Article
AN - SCOPUS:84929511501
VL - 70
SP - 156
EP - 165
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
SN - 0921-8890
ER -