Learning informative features for indoor traversability

Brooks, Alex, Makarenko, Alexei, Upcroft, Ben, & Durrant-Whyte, Hugh (2008) Learning informative features for indoor traversability. In Siciliano, Bruno, Khatib, Oussama, & Groen, Frans (Eds.) Experimental Robotics : The 10th International Symposium on Experimental Robotics. Springer, pp. 309-319.

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This paper presents a method for automatic terrain classification, using a cheap monocular camera in conjunction with a robot’s stall sensor. A first step is to have the robot generate a training set of labelled images. Several techniques are then evaluated for preprocessing the images, reducing their dimensionality, and building a classifier. Finally, the classifier is implemented and used online by an indoor robot. Results are presented, demonstrating an increased level of autonomy.

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ID Code: 48290
Item Type: Book Chapter
DOI: 10.1007/978-3-540-77457-0_29
ISBN: 9783540774563
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2008 Springer-Verlag Berlin Heidelberg
Deposited On: 27 Jan 2012 05:18
Last Modified: 18 Oct 2015 16:08

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