Terrain Classification for Mobile Robots on the Basis of Support Vector Data Description
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Hyunsuk | - |
dc.contributor.author | Chung, Woojin | - |
dc.date.accessioned | 2021-09-02T06:39:31Z | - |
dc.date.available | 2021-09-02T06:39:31Z | - |
dc.date.created | 2021-06-16 | - |
dc.date.issued | 2018-09 | - |
dc.identifier.issn | 2234-7593 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/73213 | - |
dc.description.abstract | The ability to detect traversable terrains is essential for autonomous mobile robots to guarantee safe navigation. In this paper, we present a method for terrain classification for wheeled mobile robots. Our scope is limited to mobile service robots that are used for surveillance or delivery in semi-structured urban environments. A reliable terrain detection scheme is required for both indoor and outdoor applications anytime. A low-cost Lidar (Light detection and ranging) is adopted for terrain detection. To deal with intrinsic measurement errors and uncertainties of the Lidar, the classification criteria are trained through a supervised learning approach. Training data are obtained from manual driving at target environments. Various decision boundaries resulted from a variety of floor conditions, sensor types and robot platforms. The proposed terrain classification scheme is experimentally tested in success. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC PRECISION ENG | - |
dc.subject | TRAVERSABILITY | - |
dc.subject | NAVIGATION | - |
dc.subject | ONLINE | - |
dc.subject | FIELD | - |
dc.subject | LIDAR | - |
dc.title | Terrain Classification for Mobile Robots on the Basis of Support Vector Data Description | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Woojin | - |
dc.identifier.doi | 10.1007/s12541-018-0154-4 | - |
dc.identifier.scopusid | 2-s2.0-85053310566 | - |
dc.identifier.wosid | 000444584200005 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.19, no.9, pp.1305 - 1315 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.title | INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | - |
dc.citation.volume | 19 | - |
dc.citation.number | 9 | - |
dc.citation.startPage | 1305 | - |
dc.citation.endPage | 1315 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002380334 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | TRAVERSABILITY | - |
dc.subject.keywordPlus | NAVIGATION | - |
dc.subject.keywordPlus | ONLINE | - |
dc.subject.keywordPlus | FIELD | - |
dc.subject.keywordPlus | LIDAR | - |
dc.subject.keywordAuthor | Mobile robot | - |
dc.subject.keywordAuthor | Traversability analysis | - |
dc.subject.keywordAuthor | Classification | - |
dc.subject.keywordAuthor | Obstacle detection | - |
dc.subject.keywordAuthor | Mapping | - |
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