000060652 001__ 60652
000060652 005__ 20170504102051.0
000060652 0247_ $$2doi$$a10.3390/robotics5040025
000060652 0248_ $$2sideral$$a98049
000060652 037__ $$aART-2016-98049
000060652 041__ $$aeng
000060652 100__ $$aGonzalez, Ramon
000060652 245__ $$aImproving Robot Mobility by Combining Downward-Looking and Frontal Cameras
000060652 260__ $$c2016
000060652 5060_ $$aAccess copy available to the general public$$fUnrestricted
000060652 5203_ $$aThis paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (~10% versus ~20%).
000060652 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2015-65962-R
000060652 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000060652 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000060652 700__ $$0(orcid)0000-0001-6738-3382$$aRituerto, Alejandro
000060652 700__ $$0(orcid)0000-0001-5209-2267$$aGuerrero, J.J.$$uUniversidad de Zaragoza
000060652 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDepartamento de Informática e Ingeniería de Sistemas$$cIngeniería de Sistemas y Automática
000060652 773__ $$g5, 4 (2016), [19 pp.]$$tRobotics$$x2218-6581
000060652 8564_ $$s7200352$$uhttp://zaguan.unizar.es/record/60652/files/texto_completo.pdf$$yVersión publicada
000060652 8564_ $$s106983$$uhttp://zaguan.unizar.es/record/60652/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000060652 909CO $$ooai:zaguan.unizar.es:60652$$particulos$$pdriver
000060652 951__ $$a2017-05-04-10:19:22
000060652 980__ $$aARTICLE