Classifying terrain properties for planetary exploration rovers based on a combined distance measure with dynamic texture model

Koki Fujita, Naoyuki Ichimura

Research output: Contribution to journalArticle

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)156-165
Number of pages10
JournalRobotics and Autonomous Systems
Publication statusPublished - Aug 1 2015


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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