{"title":"Terrain Classification and Classifier Fusion for Planetary Exploration Rovers","authors":"I. Halatci, Christopher A. Brooks, K. Iagnemma","doi":"10.1017/S0263574708004360","DOIUrl":null,"url":null,"abstract":"Knowledge of the physical properties of terrain surrounding a planetary exploration rover can be used to allow a rover system to fully exploit its mobility capabilities. Here a study of multi-sensor terrain classification for planetary rovers in Mars and Mars-like environments is presented. Two classification algorithms for color, texture, and range features are presented based on maximum likelihood estimation and support vector machines. In addition, a classification method based on vibration features derived from rover wheel-terrain interaction is briefly described. Two techniques for merging the results of these \"low-level\" classifiers are presented that rely on Bayesian fusion and meta-classifier fusion. The performance of these algorithms is studied using images from NASA's mars exploration rover mission and through experiments on a four-wheeled test-bed rover operating in Mars-analog terrain. It is shown that accurate terrain classification can be achieved via classifier fusion from visual and tactile features.","PeriodicalId":6295,"journal":{"name":"2007 IEEE Aerospace Conference","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2008-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"80","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 IEEE Aerospace Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1017/S0263574708004360","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 80
Abstract
Knowledge of the physical properties of terrain surrounding a planetary exploration rover can be used to allow a rover system to fully exploit its mobility capabilities. Here a study of multi-sensor terrain classification for planetary rovers in Mars and Mars-like environments is presented. Two classification algorithms for color, texture, and range features are presented based on maximum likelihood estimation and support vector machines. In addition, a classification method based on vibration features derived from rover wheel-terrain interaction is briefly described. Two techniques for merging the results of these "low-level" classifiers are presented that rely on Bayesian fusion and meta-classifier fusion. The performance of these algorithms is studied using images from NASA's mars exploration rover mission and through experiments on a four-wheeled test-bed rover operating in Mars-analog terrain. It is shown that accurate terrain classification can be achieved via classifier fusion from visual and tactile features.