Abstract
This work proposes a novel vision-based approach for classifying terrain types around a planetary rover in order to improve autonomous mobility in unknown planetary environment. The key technique of the classification scheme is an identification algorithm for a spatio-temporal texture appearing in motion image sequence, called a Dynamic Texture. It is applied to video sequences which are acquired from the rover's on-board camera. In order to decrease the computational load for estimating Dynamic Texture models with the original method called PCAID algorithm, this work proposes a method combining a system identification method called N4SID with an image compression technique called 2-Dimensional Cosine Transform (2-D DCT). Different types of terrain image sequences are recognized with measurement metrics for the estimated dynamical models. In this paper, some representative metrics are applied to synthetic image sequences, and it is discussed which one is appropriate to distinguish different terrain textures as well as the vehicle's motion paramters such as a taranslational velocity.
| Original language | English |
|---|---|
| Title of host publication | Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS |
| Pages | 701-712 |
| Number of pages | 12 |
| Volume | 138 |
| Publication status | Published - 2010 |
| Event | 12th International Conference of Pacific-Basin Societies, ISCOPS - Montreal, QC, Canada Duration: Jul 27 2010 → Jul 30 2010 |
Other
| Other | 12th International Conference of Pacific-Basin Societies, ISCOPS |
|---|---|
| Country | Canada |
| City | Montreal, QC |
| Period | 7/27/10 → 7/30/10 |
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All Science Journal Classification (ASJC) codes
- Aerospace Engineering
- Space and Planetary Science
Cite this
Vision-based terrain analysis for planetary rover utilizing Dynamic Texture. / Fujita, Koki.
Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS. Vol. 138 2010. p. 701-712.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Vision-based terrain analysis for planetary rover utilizing Dynamic Texture
AU - Fujita, Koki
PY - 2010
Y1 - 2010
N2 - This work proposes a novel vision-based approach for classifying terrain types around a planetary rover in order to improve autonomous mobility in unknown planetary environment. The key technique of the classification scheme is an identification algorithm for a spatio-temporal texture appearing in motion image sequence, called a Dynamic Texture. It is applied to video sequences which are acquired from the rover's on-board camera. In order to decrease the computational load for estimating Dynamic Texture models with the original method called PCAID algorithm, this work proposes a method combining a system identification method called N4SID with an image compression technique called 2-Dimensional Cosine Transform (2-D DCT). Different types of terrain image sequences are recognized with measurement metrics for the estimated dynamical models. In this paper, some representative metrics are applied to synthetic image sequences, and it is discussed which one is appropriate to distinguish different terrain textures as well as the vehicle's motion paramters such as a taranslational velocity.
AB - This work proposes a novel vision-based approach for classifying terrain types around a planetary rover in order to improve autonomous mobility in unknown planetary environment. The key technique of the classification scheme is an identification algorithm for a spatio-temporal texture appearing in motion image sequence, called a Dynamic Texture. It is applied to video sequences which are acquired from the rover's on-board camera. In order to decrease the computational load for estimating Dynamic Texture models with the original method called PCAID algorithm, this work proposes a method combining a system identification method called N4SID with an image compression technique called 2-Dimensional Cosine Transform (2-D DCT). Different types of terrain image sequences are recognized with measurement metrics for the estimated dynamical models. In this paper, some representative metrics are applied to synthetic image sequences, and it is discussed which one is appropriate to distinguish different terrain textures as well as the vehicle's motion paramters such as a taranslational velocity.
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UR - http://www.scopus.com/inward/citedby.url?scp=80053395119&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80053395119
SN - 9780877035626
VL - 138
SP - 701
EP - 712
BT - Applications of Space Technology for Humanity - Advances in the Astronautical Sciences: Proceedings of the 12th International Conference of Pacific-Basin Societies, ISCOPS
ER -