Terrain Classification Using Texture For The ALV

Marty Marra; R.Terry Dunlay; Don Mathis

doi:10.1117/12.949084

10 March 1989 Terrain Classification Using Texture For The ALV

Marty Marra, R.Terry Dunlay, Don Mathis

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949084
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Off-road navigation is a very demanding visual task in which texture can play an important role. Travel on a smooth road or path can be done with greater speed and safety in general than on rough natural terrain. In addition, recognition of off-road terrain types can aid in finding the fastest and safest route through a given area. Implementations of two texture methods for identifying certain terrain features in video imagery are briefly discussed. The first method uses edge and morphological filters to identify roadways from off-road. The second method uses a neural net to identify several terrain types based on color, directional texture, global variance and location in the image. Plans to integrate the terrain labeled image produced by the latter method into the ALV's perception system are also discussed.

Citation Download Citation

Marty Marra, R.Terry Dunlay, and Don Mathis "Terrain Classification Using Texture For The ALV", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949084

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