Boosting Support Vector Machines for RGB-D Based Terrain Classification

Jan Wietrzykowski, Dominik Belter
2014 Journal of Automation, Mobile Robotics & Intelligent Systems  
This paper deals with the terrain classifica on problem for an autonomous mobile robot. The robot is designed to operate in an outdoor environment. The classifier integrates data from RGB camera and 2D laser scanner. The camera provides informa on about visual appearance of the objects in front of the robot. The laser scanner provides data about distance to the objects and their ability to reflect infrared beam. In this paper we present the method which create terrain segments and classifies
more » ... s and classifies them using joint applica on of Support Vector Machine (SVM) classifier and AdaBoost algorithm. The classificaon results of the experimental verifica on are provided in the paper.
doi:10.14313/jamris_3-2014/24 fatcat:sujo6q67avfmxktkynjn5mxpgy