Thermal vision, moisture content, and vegetation in the context of off-road mobile robots
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URI: http://hdl.handle.net/10835/14686
ISSN: 1879-1204
ISSN: 0022-4898
DOI: https://doi.org/10.1016/j.jterra.2017.01.001
ISSN: 1879-1204
ISSN: 0022-4898
DOI: https://doi.org/10.1016/j.jterra.2017.01.001
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2017-01-30Resumen
This paper describes an initial investigation that shows the major impact that moisture and vegetation produce on a soil and how that effect may be measured using a thermal camera. In particular, those two variables influence how the soil compacts and, hence, the traversability of a vehicle. A broad set of experiments, under different weather conditions and with different soils, demonstrate that thermal properties derived from the thermal camera (i.e. thermal inertia) increase when moisture content of sandy soils increases. In addition to that, a relation is observed between thermal inertia and traversability (lower thermal inertia, worse traction; and vice versa). Another key behavior is noticed for vegetated soils, where a similar thermal inertia to wet sand is obtained but with only a third of moisture content. These results may be considered for maximizing traversability over sandy soils with higher thermal inertias, what eventually means higher compaction and safer routes. To the ...