Volume 37 Issue 3
May  2015
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ZHANG Weidong, ZHANG Wei, LI Zhenpeng, GU Jianjun. Visual Features for Long-Range Terrain Perception[J]. ROBOT, 2015, 37(3): 369-375. DOI: 10.13973/j.cnki.robot.2015.0369
Citation: ZHANG Weidong, ZHANG Wei, LI Zhenpeng, GU Jianjun. Visual Features for Long-Range Terrain Perception[J]. ROBOT, 2015, 37(3): 369-375. DOI: 10.13973/j.cnki.robot.2015.0369
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Visual Features for Long-Range Terrain Perception

  • School of Control Science and Engineering, Shandong University, Jinan 250061, China

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  • Received Date: November 24, 2014
  • Revised Date: April 01, 2015
  • Published Date: May 19, 2015
    Graphical Abstract
    • Abstract
  • A visual features based long-range terrain perception method for mobile robots is presented. This approach follows a near-to-far learning procedure. Firstly, the obtained image is segmented and the scale is normalized. Then, hue features for representing the color information and LBP (local binary pattern) features for representing the texture information are extracted. Next, the near field terrain samples are labelled obstacle and ground using stereo vision, and then a classifier is trained with these labelled samples to classify the rest unknown samples. Finally, confidence values are defined based on posterior probability to reclassify the low confident samples for further improving the classification accuracy. Experiment results show that the proposed approach can achieve long-range terrain perception accurately and stably.
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    • References (20)
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