A terrain classi cation method for planetary rover utilizing dynamic texture

Koki Fujita, Naoyuki Ichimura

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルAIAA Guidance, Navigation, and Control Conference 2011
出版ステータス出版済み - 12 1 2011
イベントAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, 米国
継続期間: 8 8 20118 11 2011

出版物シリーズ

名前AIAA Guidance, Navigation, and Control Conference 2011

その他

その他AIAA Guidance, Navigation and Control Conference 2011
国/地域米国
CityPortland, OR
Period8/8/118/11/11

All Science Journal Classification (ASJC) codes

  • 航空宇宙工学
  • 制御およびシステム工学
  • 電子工学および電気工学

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