NDLI: Combining features for adaptive terrain classification based on ART neural network

Content Provider	IEEE Xplore Digital Library
Author	Xu Zhangjian Song Meng Li Shulun Sun Fengchi
Copyright Year	2012
Description	Author affiliation: College of Software, Nankai University, Tianjin 300071, China (Xu Zhangjian; Song Meng; Li Shulun; Sun Fengchi)
Abstract	Terrain classification focuses on determining a safe region for robot to traverse while labeling obstacles. This paper study terrain classification based on scene imageries of the natural environment and attempts to combine color, texture and geometry moment features to train an ARTMAP neural network. After learning the relationship between the combined features and the traversability of terrains, the neural network can be used to assess the front terrain. In this paper, we used the combined features to carve up the environment and enable the classification more lighting independent, season adaptable and more efficient in the whole. Thanks to the adaptability of the ARTMAP neural network classifier and the strategy of features combination, the results show that the presented method can classify the terrain more accurately across different scenarios with fairly high classification efficiency.
Starting Page	4808
Ending Page	4813
File Size	227324
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Training Geometry Image color analysis combined features Subspace constraints Neural networks terrain classification Feature extraction Labeling neural network classifier
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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