Terrain surface classification with a control mode update rule using a 2D laser stripe-based structured light sensor

Authors:
Liang Lu;Camilo Ordonez;Emmanuel G. Collins, Jr.;Eric Coyle;Dushyant Palejiya
Affiliations:
GE (China) Research and Development Center Co. Ltd, Shanghai, PR China;Department of Mechanical Engineering, FAMU-FSU College of Engineering, 2525 Pottsdamer Street, Tallahassee, FL 32301, USA;Department of Mechanical Engineering, FAMU-FSU College of Engineering, 2525 Pottsdamer Street, Tallahassee, FL 32301, USA;Department of Mechanical Engineering, FAMU-FSU College of Engineering, 2525 Pottsdamer Street, Tallahassee, FL 32301, USA;Department of Mechanical Engineering, FAMU-FSU College of Engineering, 2525 Pottsdamer Street, Tallahassee, FL 32301, USA
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

It is necessary for autonomous ground vehicles operating on outdoor terrains to identify and adapt to different terrains in order to improve their mobility and safety. This work presents a classification scheme to identify outdoor terrains and an update rule to reduce the possibility of implementing control modes based on classification inaccuracies. A laser stripe-based structured light sensor, which has a laser and infrared camera component, is used to sense terrains directly in front of the vehicle (