Online, self-supervised vision-based terrain classification in unstructured environments

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn , Issue , 2009, Pages 3100-3105

  Moghadam, Peyman ^a   Wijesoma, Wijerupage Sardha ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Online; Self supervised learning; Stereo vision

Indexed keywords

ADAPTIVE MODELS; CHANGING ENVIRONMENT; COMPLEX SCENES; DIFFERENT TERRAINS; FAR-FIELD; FIELD OF VIEWS; GOLD STANDARDS; MACHINE LEARNING TECHNIQUES; MODEL CONSTRUCTION; MULTIPLE-FRAME; NEAR-FIELD; ONLINE; PROCESSING ALGORITHMS; REAL DATA SETS; SELF-SUPERVISED LEARNING; STEREO INFORMATION; TERRAIN CLASSIFICATION; TERRAIN CLASSIFIERS; UNMANNED GROUND VEHICLES; UNSTRUCTURED ENVIRONMENTS; VISION BASED; VISION SYSTEMS; WEATHER CONDITIONS;

CLASSIFICATION (OF INFORMATION); CLASSIFIERS; CYBERNETICS; GROUND VEHICLES; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; LANDFORMS; LEARNING ALGORITHMS; PHILOSOPHICAL ASPECTS; REMOTELY OPERATED VEHICLES; SUPERVISED LEARNING;

STEREO VISION;

EID: 74849140989     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICSMC.2009.5345942     Document Type: Conference Paper

References (18)

1. L. Jackel, E. Krotkov, M. Perschbacher, J. Pippine, and C. Sullivan. "The DARPA LAGR program: Goals, challenges, methodology, and Phase I results". Journal of Field Robotics, 23, pp. 945-973, 2006.
2. D. Pomerleau. "ALVINN: An autonomous land vehicle in a neural network". In Advances in Neural Information Processing Systems (NIPS), pages 305-313, 1989.
3. R. Manduchi, A. Castano, A. Talukder, and L. Matthies. "Obstacle detection and terrain classification for autonomous off-road navigation". Autonomous Robot, 18, pages 81-102, 2005.
4. A. Lookingbill, J. Rogers, D. Lieb, J. Curry, and S. Thrun. "Reverse Optical Flow for Self-Supervised Adaptive Autonomous Robot Navigation". Int. J. Comput. Vision 74, no.3, 287-302, 2007.
5. M. Happold, M. Ollis, and N. Johnson. "Enhancing supervised terrain classification with predictive unsupervised learning". In Proceedings of Robotics: Science and Systems, Cambridge, USA, June 2006.
6. M. Bajracharya, A. Howard, L. H. Matthies, B. Tang, M. Turmon. "Autonomous off-road navigation with end-to-end learning for the LAGR program." Journal of Field Robotics, 26, 3-25, 2009.
7. K. Konolige, M. Agrawal,M.R. Blas, R.C. Bolles,B. Gerkey, J. Solà,A. Sundaresan, "Mapping, Navigation, and Learning for Off-Road Traversal" .Journal of Field Robotics, 26, 88-113,2009.
8. M. Shneier, T. Chang, T. Hong, W. Shackleford, R. Bostelman, J. Albus, "Learning traversability models for autonomous mobile vehicles". Autonomous Robots, 24, 69-86, 2008.
9. M. J. Procopio, J. Mulligan, G. Grudic. "Learning Terrain Segmentation with Classifier Ensembles for Autonomous Robot Navigation in Unstructured Environments". Journal of Field Robotics, 26, 145-175, 2009.
10. PTGrey. Point grey research inc. http://www.ptgrey.com/,2004.
11. P. Moghadam, W. S. Wijesoma, D. J. Feng. "Improving path planning and mapping based on stereo vision and lidar". ICARCV. 384-389, 2008.
12. C. J. van Rijsbergen. "Information Retireval. Butterworths". London, 1979.
13. S. Grossberg, "Adaptive Pattern Recognition and Universal Encoding II: Feedback, Expectation, Olfaction, and Illusions", Biological Cybernetics, Vol. 23, pp. 187-202, 1976.
14. G. A. Carpenter, S. Grossberg, "A massively parallel architecture for a self-organizing neural pattern recognition machine", Computer Vision, Graphics, and Image Processing, Vol. 37, pp. 54-115,1987.
15. G. A. Carpenter, S. Grossberg, and D.B. Rosen, "Fuzzy ART: Fast stable learning and categorization of analog patterns by an adaptive resonance system", Neural Networks, 4(6), pp. 759-771, 1991.
16. G.A. Carpenter, S. Grossberg, and J.H. Reynorlds, "ARTMAP: Supervised real-time learning and classification of non-stationary data by a self-organizing neural network", Neural Networks, Vol. 6, pp. 565-588, 1991.
17. G.A. Carpenter, S. Grossberg, N. Markuzon, J.H. Reynorlds and D.B. Rosen, "Fuzzy ARTMAP: A Neural Network Architecture for Incremental Supervised Learning of Analog Multidimensional Maps", IEEE Transaction on Neural Networks, 3(5), pp. 698-713, 1992.
18. M. J. Procopio. "Hand-labeled DARPA LAGR data sets". Available at http://ml.cs.colorado.edu/~procopio/labeledlagrdata/, 2007.