Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras
This paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Published: |
Multidisciplinary Digital Publishing Institute
2018
|
| Online Access: | http://hdl.handle.net/1721.1/113355 https://orcid.org/0000-0002-3261-7991 |
| _version_ | 1826215870191370240 |
|---|---|
| author | Rituerto, Alejandro Guerrero, José J. Gonzalez Sanchez, Ramon |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Rituerto, Alejandro Guerrero, José J. Gonzalez Sanchez, Ramon |
| author_sort | Rituerto, Alejandro |
| collection | MIT |
| description | This paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (∼10% versus ∼20%). Keywords: mobile robotics; computer vision; terrain classification; color and gist descriptors |
| first_indexed | 2024-09-23T16:38:21Z |
| format | Article |
| id | mit-1721.1/113355 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T16:38:21Z |
| publishDate | 2018 |
| publisher | Multidisciplinary Digital Publishing Institute |
| record_format | dspace |
| spelling | mit-1721.1/1133552022-10-03T07:20:12Z Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras Rituerto, Alejandro Guerrero, José J. Gonzalez Sanchez, Ramon Massachusetts Institute of Technology. Department of Mechanical Engineering Gonzalez Sanchez, Ramon This paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (∼10% versus ∼20%). Keywords: mobile robotics; computer vision; terrain classification; color and gist descriptors 2018-01-30T20:04:19Z 2018-01-30T20:04:19Z 2016-11 2016-10 2018-01-24T21:04:14Z Article http://purl.org/eprint/type/JournalArticle 2218-6581 http://hdl.handle.net/1721.1/113355 Gonzalez, Ramon et al. "Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras." Robotics 5, 4 (November 2016): 25 © The Author(s) https://orcid.org/0000-0002-3261-7991 http://dx.doi.org/10.3390/robotics5040025 Robotics Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ application/pdf Multidisciplinary Digital Publishing Institute Multidisciplinary Digital Publishing Institute |
| spellingShingle | Rituerto, Alejandro Guerrero, José J. Gonzalez Sanchez, Ramon Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title | Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title_full | Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title_fullStr | Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title_full_unstemmed | Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title_short | Improving Robot Mobility by Combining Downward-Looking and Frontal Cameras |
| title_sort | improving robot mobility by combining downward looking and frontal cameras |
| url | http://hdl.handle.net/1721.1/113355 https://orcid.org/0000-0002-3261-7991 |
| work_keys_str_mv | AT rituertoalejandro improvingrobotmobilitybycombiningdownwardlookingandfrontalcameras AT guerrerojosej improvingrobotmobilitybycombiningdownwardlookingandfrontalcameras AT gonzalezsanchezramon improvingrobotmobilitybycombiningdownwardlookingandfrontalcameras |