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Terrain surface classification for autonomous ground vehicles using a 2D laser stripe-based structured light sensor

Liang Lu, Camilo Ordonez, Emmanuel G. Collins, Edmond M. DuPont
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
To increase autonomous ground vehicle (AGV) safety and efficiency on outdoor terrains the vehicle's control system should have settings for individual terrain surfaces.  ...  This paper considers vision-based terrain surface classification for the path directly in front of the vehicle (< 1 m).  ...  The authors thank Christoph Mertz and Martial Hebert from the Carnegie Mellon University Robotics Institute for providing the laser line striper used in this research.  ... 
doi:10.1109/iros.2009.5354799 dblp:conf/iros/LuOCD09 fatcat:x5tuw36zdjf3dii6csmnshas24

Velocity Selection for High-Speed UGVs in Rough Unknown Terrains Using Force Prediction [chapter]

Graeme N. Wilson, Alejandro Ramirez-Serrano, Mahmoud Mustafa, Krispin A. Davies
2012 Lecture Notes in Computer Science  
Enabling high speed navigation of Unmanned Ground Vehicles (UGVs) in unknown rough terrain where limited or no information is available in advance requires the assessment of terrain in front of the UGV  ...  Attempts have been made to predict the forces the terrain exerts on the UGV for the purpose of determining the maximum allowable velocity for a given terrain.  ...  Introduction Autonomous traversal of unknown rough terrains at high-speeds is a challenging endeavor for Unmanned Ground Vehicles (UGVs).  ... 
doi:10.1007/978-3-642-33515-0_39 fatcat:vogybgcdhje7xc3jzln4c4jtfq

Terrain Classification Using Weakly-Structured Vehicle/Terrain Interaction

Amy C. Larson, Guleser K. Demir, Richard M. Voyles
2005 Autonomous Robots  
We present a new terrain classification technique both for effective, autonomous locomotion over rough, unknown terrains and for the qualitative analysis of terrains for exploration and mapping.  ...  We describe how terrain classification may be used for gait adaptation, particularly in relation to an efficiency metric.  ...  Acknowledgments We thank Seth Hulst and Andrew Willouer for their time-consuming efforts in data collection. We thank Berk Yesin for his vision code and Monica LaPoint for her systems work.  ... 
doi:10.1007/s10514-005-0605-5 fatcat:qifeig7knnaulbu63fuzyzcboq

Stereo-vision-based perception capabilities developed during the Robotics Collaborative Technology Alliances program

Arturo Rankin, Max Bajracharya, Andres Huertas, Andrew Howard, Baback Moghaddam, Shane Brennan, Adnan Ansar, Benyang Tang, Michael Turmon, Larry Matthies, Grant R. Gerhart, Douglas W. Gage (+1 others)
2010 Unmanned Systems Technology XII  
systems ranging in size from man-portables to ground combat vehicles.  ...  detection in dynamic environments, and long range terrain classification.  ...  ACKNOWLEDGEMENTS The research described in this paper was carried out by the Jet Propulsion Laboratory, California Institute of Technology, and was sponsored by ARL under the RCTA program, through agreements  ... 
doi:10.1117/12.852644 fatcat:urtppctqlngy7gtxsfaum44ilq

Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions

Rocco Galati, Giulio Reina
2019 Frontiers in Robotics and AI  
A wide set of experimental results acquired on various surfaces are provided to verify the study in the field, proving its effectiveness for application in autonomous robots.  ...  This paper presents a novel approach for terrain characterization based on a tracked skid-steer vehicle with a passive independent suspensions system.  ...  the frequency response for each suspension.  ... 
doi:10.3389/frobt.2019.00046 pmid:33501062 pmcid:PMC7806075 fatcat:rv5olqk7qjaodaegavha7kcheq

Online Speed Adaptation Using Supervised Learning for High-Speed, Off-Road Autonomous Driving

David Stavens, Gabriel Hoffmann, Sebastian Thrun
2007 International Joint Conference on Artificial Intelligence  
Consider a high-speed (35 mph) autonomous vehicle driving off-road through challenging desert terrain. The vehicle should drive slowly on terrain that poses substantial risk.  ...  However, it should not dawdle on safe terrain. In this paper we address one aspect of risk -shock to the vehicle.  ...  Now, by superposition, considering the sum of the responses for all components of the terrain profile at all spatial frequencies, the amplitude of the acceleration response of the vehicle, A z , is the  ... 
dblp:conf/ijcai/StavensHT07 fatcat:lchkgajkmbc7pdwj4erw725stu

Audio-Visual Self-Supervised Terrain Type Recognition for Ground Mobile Platforms

Akiyoshi Kurobe, Yoshikatsu Nakajima, Kris Kitani, Hideo Saito
2021 IEEE Access  
The ability to recognize and identify terrain characteristics is an essential function required for many autonomous ground robots such as social robots, assistive robots, autonomous vehicles, and ground  ...  In order to address the inherent ambiguity in vision-based terrain recognition and identification, we propose a multi-modal selfsupervised learning technique that switches between audio features extracted  ...  [9] 's method classifies terrain types using input frequency responses, which assists autonomous ground vehicle navigation.  ... 
doi:10.1109/access.2021.3059620 fatcat:rkgokxxk4nesnobhsueoyibxsy

Improvements in accuracy of single camera terrain classification

Syed Muhammad Abbas, Abubakr Muhammad, Syed Atif Mehdi, Karsten Berns
2013 2013 16th International Conference on Advanced Robotics (ICAR)  
Autonomous terrain classification is an important requirement for robotic applications for the outdoor and more so for off-road systems.  ...  Our method gives a noticeable improvement in accuracy for classifying similar terrain classes over the current state of the art that uses only texture for classification with acceptable overhead for real-time  ...  They have carried out a performance analysis of texture-based terrain classification methods using different real-world images relevant to off-road autonomous navigation.  ... 
doi:10.1109/icar.2013.6766493 dblp:conf/icar/AbbasMMB13 fatcat:xg5r5y7nknbypohswbyqczvpcq

RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learning [article]

Xinjie Yao, Ji Zhang, Jean Oh
2022 arXiv   pre-print
To find such a path, vehicles negotiate with different terrains and assess their traversal difficulty.  ...  Our approach estimates how the vehicle would feel if traversing over based on terrain appearances.  ...  It shows relative amounts of amplitude for each frequency component. Ground truth signals are marked in blue, while the estimates ones are shown in orange.  ... 
arXiv:2207.14460v1 fatcat:ajlkf7y3hveaxp266zoxv4ibhe

Hierarchical world model for an autonomous scout vehicle

Tsai Hong Hong, Stephen B. Balakirsky, Elena Messina, Tommy Chang, Michael Shneier, Grant R. Gerhart, Chuck M. Shoemaker, Douglas W. Gage
2002 Unmanned Ground Vehicle Technology IV  
Functions for maintaining the world model are discussed. The world model described herein is being developed for the Army Research Laboratory's Demo III Autonomous Scout Vehicle experiment.  ...  The various features are maintained in different layers that are registered together to provide maximum flexibility in generation of vehicle plans depending on mission requirements.  ...  Maps and objects at the Autonomous Mobility level A modified form of Hebert's 10 grid obstacle map was adopted for representing obstacles in a way suitable for path planning and vehicle control.  ... 
doi:10.1117/12.474467 fatcat:alosnhpd6bcx5n7jcmd5txk6uy

Audio-Visual Self-Supervised Terrain Type Discovery for Mobile Platforms [article]

Akiyoshi Kurobe, Yoshikatsu Nakajima, Hideo Saito, Kris Kitani
2020 arXiv   pre-print
The ability to both recognize and discover terrain characteristics is an important function required for many autonomous ground robots such as social robots, assistive robots, autonomous vehicles, and  ...  ground exploration robots.  ...  Collins et al. classifies terrain types using input frequency responses, which assists autonomous ground vehicle navigation [9] .  ... 
arXiv:2010.06318v1 fatcat:25rhvy3tlncdpbpyc5y4vmuiay

Ambient awareness for agricultural robotic vehicles

Giulio Reina, Annalisa Milella, Raphaël Rouveure, Michael Nielsen, Rainer Worst, Morten R. Blas
2016 Biosystems Engineering  
The development of a multi-sensory perception systemto increase the ambient awareness of an agricultural vehicle operating in crop fields is the objective of the Ambient Awareness for Autonomous Agricultural  ...  Novel methods for their combination are proposed to automatically detect obstacles and discern traversable from non-traversable areas.  ...  ACKNOWLEDGMENT The financial support of the FP7 ERA-NET ICT-AGRI through the grants Ambient Awareness for Autonomous Agricultural Vehicles (QUAD-AV) and Simultaneous Safety and Surveying for Collaborative  ... 
doi:10.1016/j.biosystemseng.2015.12.010 fatcat:25msz6wxhrfllpsiljprn6adlq

Updating control modes based on terrain classification

Eric Coyle, Emmanuel G Collins, Liang Lu
2010 2010 IEEE International Conference on Robotics and Automation  
This paper also develops and implements a sliding horizon approach to reaction-based terrain classification for improved sensitivity to terrain transitions.  ...  The need for terrain-dependent control systems on AGVs is evident when considering the variety of outdoor terrains many AGVs encounter.  ...  INTRODUCTION Today's autonomous ground vehicles (AGVs) are expected to operate in a variety of environments including deserts, beaches, forests, and swamps.  ... 
doi:10.1109/robot.2010.5509870 dblp:conf/icra/CoyleCL10 fatcat:ih3nx62oqzgu3ecv5ri4juzdeq

Terrain-adaptive obstacle detection

Benjamin Suger, Bastian Steder, Wolfram Burgard
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
which are updated with the frequency of the lidar sensor, with semantic terrain information, which is updated with at lower frequency.  ...  We provide experiments in which we evaluate our approach on a real robot on an autonomous run over several kilometers containing different terrain types.  ...  All authors are with the University of Freiburg, Institute for Computer Science, 79110 Freiburg, Germany.  ... 
doi:10.1109/iros.2016.7759531 dblp:conf/iros/SugerSB16 fatcat:jnhjxwfx6zblfozf4mn5yullgy

Airborne LiDAR

Harsh Jindal, Jagdeep kaur
2021 International Journal of Scientific Research in Science Engineering and Technology  
In this paper, a discussion on different types of LiDAR sensors including LiDAR for autonomous vehicles was also done.  ...  This paper also discusses the autonomous LiDAR technique in detail. The paper also discusses the future scope of technology.  ...  For the process of autonomous vehicles IV. DISCUSSION The basic and foremost criterion of the paper is to discuss the defects in the LiDAR technology used in recent times in flights and other areas.  ... 
doi:10.32628/ijsrset2183209 fatcat:t5ywazjssbekbkai5ru55stoly
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