Computationally Inexpensive Appearance Based Terrain Learning in Unknown Environments

[1] R.o. duda, p.e. hart, and d.g. stork, pattern classification, new york: John wiley & sons, 2001, pp. xx + 654, isbn: 0-471-05669-3. J. Classif., 24(2):305-307, September 2007.10.1007/s00357-007-0015-9Search in Google Scholar

[2] J. Field Robot., 25(9), 2008.Search in Google Scholar

[3] Max Bajracharya, Andrew Howard, Larry H. Matthies, Benyang Tang, and Michael Turmon. Autonomous off-road navigation with end-to-end learning for the lagr program. Journal of Field Robotics, 26(1):3-25, 2009.10.1002/rob.20269Search in Google Scholar

[4] David Ball, Scott Heath, Janet Wiles, Gordon Wyeth, Peter Corke, and Michael Milford. Openratslam: an open source brain-based slam system. Autonomous Robots, 34(3):149-176, 2013.Search in Google Scholar

[5] Martin Buehler. Summary of dgc 2005 results: Editorial. J. Robot. Syst., 23(9):659-660, September 2006.10.1002/rob.20157Search in Google Scholar

[6] P.J. Burt and E.H. Adelson. The laplacian pyramid as a compact image code. Communications, IEEE Transactions on, 31(4):532-540, 1983.10.1109/TCOM.1983.1095851Search in Google Scholar

[7] Hendrik Dahlkamp, Adrian Kaehler, David Stavens, Sebastian Thrun, and Gary R. Bradski. Self-supervised monocular road detection in module would operate on a higher hierarchical layer, taking into account the terrain learnt using a single camera, and there are gains to be realized here. We tested monocular vision based terrain learning in diverse terrain types. Validation spanning variations in obstacle field configuration, illumination conditions, and environment structure, shows the feasibility of our approach. Aknowledgements The authors gratefully acknowledge Professor Koshy George, Director at the PES Centre for Intelligent Systems, for his feedback and suggestions. 11Search in Google Scholar

[9] R.O. Duda, P.E. Hart, and D.G. Stork. Pattern Classification, John Wiley and Sons, 2nd Edition, New York 2001.Search in Google Scholar

[10] John A. Grant, Matthew P. Golombek, John P. Grotzinger, Sharon A. Wilson, Michael M. Watkins, Ashwin R. Vasavada, Jennifer L. Griffes, and Timothy J. Parker. The science process for selecting the landing site for the 2011 mars science laboratory. Planetary and Space Science, 59(1112):1114 - 1127, 2011. Geological Mapping of Mars.10.1016/j.pss.2010.06.016Search in Google Scholar

[11] Raia Hadsell, Pierre Sermanet, Jan Ben Ayse Erkan, and Marco Scoffier. Learning long-range vision for autonomous off-road driving. Journal of Field Robotics, pages 120-144, 2009.10.1002/rob.20276Search in Google Scholar

[12] Wes Huang, Greg Grudic, and Larry Matthies. Editorial. Journal of Field Robotics, 26(1):1-2, 200910.1002/rob.20275Search in Google Scholar

[13] L.D. Jackel, Douglas Hackett, Eric Krotkov, Michael Perschbacher, James Pippine, and Charles Sullivan. How darpa structures its robotics programs to improve locomotion and navigation. Commun. ACM, 50(11):55-59, November 2007.10.1145/1297797.1297823Search in Google Scholar

[14] J. Luo, A. Pronobis, B. Caputo, and P. Jensfelt. Incremental learning for place recognition in dynamic environments. In in Proc. IROS07, 2007.10.1109/IROS.2007.4398986Search in Google Scholar

[15] P. Mishra and A. Viswanathan. Computationally inexpensive labeling of appearance based navigable terrain for autonomous rovers. In Intelligence in Vehicles and Transportation Systems (CIVTS), 2013, IEEE Symposium on,, pages 88-92, April 2013.10.1109/CIVTS.2013.6612294Search in Google Scholar

[16] P. Mishra, A. Viswanathan, and A. Srinivasan. A supervised learning approach to far range depth estimation using a consumer-grade rgb-d camera. In Electronics, Computing and Communication Technologies (CONECCT), 2013 IEEE International Conference on, pages 1-6, 2013.10.1109/CONECCT.2013.6469299Search in Google Scholar

[17] M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman. The new college vision and laser data set. The International Journal of Robotics Research, 28(5):595-599, May 2009.10.1177/0278364909103911Search in Google Scholar

[18] Richard Szeliski. Computer vision: algorithms and applications. Springer, 2010.10.1007/978-1-84882-935-0Search in Google Scholar

[19] S. Thrun, M. Montemerlo, and A. Aron. Probabilistic terrain analysis for high-speed desert driving. In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006.10.15607/RSS.2006.II.021Search in Google Scholar

[20] Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia Oakley, Mark Palatucci, Vaughan Pratt, Pascal Stang, Sven Strohband, Cedric Dupont, Lars-Erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe van Niekerk, Eric Jensen, Philippe Alessandrini, Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, Ara Nefian, and Pamela Mahoney. Stanley: The robot that won the darpa grand challenge: Research articles. J. Robot. Syst., 23(9):661-692, September 2006.10.1002/rob.20147Search in Google Scholar

[21] Edward Tunstel and Ayanna Howard. Sensing and perception challenges of planetary surface robotics, 2002.Search in Google Scholar

[22] Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Ragunathan Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M Snider, Joshua C Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang, and Jason Ziglar. Autonomous driving in urban environments: Boss and the urban challenge. Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, 25(8):425-466, June 2008.10.1002/rob.20255Search in Google Scholar

[23] Shengyan Zhou, Junqiang Xi, Matthew W. Mc- Daniel, Takayuki Nishihata, Phil Salesses, and Karl Iagnemma. Self-supervised learning to visually detect terrain surfaces for autonomous robots operating in forested terrain. J. Field Robot., 29(2):277-297, March 2012 10.1002/rob.21417Search in Google Scholar