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dc.contributor.authorGonzález Sánchez, Ramón
dc.contributor.authorRituerto, Alejandro
dc.contributor.authorGuerrero, José J.
dc.date.accessioned2020-01-16T12:11:39Z
dc.date.available2020-01-16T12:11:39Z
dc.date.issued2016-11-28
dc.identifier.issn2218-6581
dc.identifier.urihttp://hdl.handle.net/10835/7403
dc.description.abstractThis 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%).es_ES
dc.language.isoenes_ES
dc.publisherMDPIes_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectmobile roboticses_ES
dc.subjectcomputer visiones_ES
dc.subjectterrain classificationes_ES
dc.subjectcolor and gist descriptorses_ES
dc.titleImproving Robot Mobility by Combining Downward-Looking and Frontal Camerases_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://www.mdpi.com/2218-6581/5/4/25es_ES
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internacional