Terrain Classification Based On Structure ForAutonomous Navigation in Complex Environments
Duong V.Nguyen1, Lars Kuhnert2, Markus Ax2, and Klaus-Dieter Kuhnert2
1Research School MOSES, University of Siegen, Germany
2Institute for Real-Time-Learning Systems, University of Siegen, Germany
II. Signal Processing And Application
Introduction
Methodology• Graph-Cut
• Feature Extraction
• Neighbor Distance Variation Inside Edgeless Areas
• Conditional Local Point Statistics
• Support Vector Machine
Experiments and Results
Conclusion
Reference
Outline
Introduction
•Variety of terrain •Avoid obstacles• Maintain rollover stability• Manage power …etc
Why do we need Terrain Classification?
autonomous operation Or: complete task without direct control by a human• Bomb-defusing • Vacuum cleaning • Forest exploration …etc
What is unmanned system ?
AMOR:
1st prize of innovation awards, ELROB-2010, Hammelburg, Germany.
PMD camera Laser Scanner Stereo Cameras
Introduction Recent 3-D Approaches
Problems: Beam scattering effects Only used for static scenes Object detection purely based on structure is
not really robust in some scenes.
Solutions: Local points statistic analysis (Graph-Cut for depth image segmentation) Gaussian Mixture Model using Expectation
maximization Combining 3-D and 2-D features
Why should Laser Scanner be used?
Advantages: Stable data acquisition High precision Affordable
Introduction
Classifier SVM
ROI extraction
3-D point cloud
3-D Features Depth image segmentation
Methodology
Terrain Classification System Diagram
Graph-Cut Technique
Methodology
Internal difference
Component difference
Un-Joint Condition:
Classifier SVM
ROI extraction
3-D point cloud
3-D Features Depth image segmentation
Methodology Feature Extraction
Classifier SVM
ROI extraction
3-D point cloud
3-D Features Depth image segmentation
Methodology Support Vector Machine
Experiments and Results
• Graph-cut Technique For Segmentation• Neighbor Distance Variation Feature• Conditional Local Point Statistics Feature
Future work:• 2D&3D Calibration• Color Features
Conclusion
Q&A
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