Abstract
This work presents a machine learning method for terrain’s traversability classification. Stereo vision is used to provide the depth map of the scene. Then, a v-disparity image calculation and processing step extracts suitable features about the scene’s characteristics. The resulting data are used as input for the training of a support vector machine (SVM). The evaluation of the traversability classification is performed with a leave-one-out cross validation procedure applied on a test image data set. This data set includes manually labeled traversable and non-traversable scenes. The proposed method is able to classify the scene of further stereo image pairs as traversable or non-traversable, which is often the first step towards more advanced autonomous robot navigation behaviours.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chang, C., Lin, C.: LIBSVM: a library for support vector machines (2001), software available at http://www.csie.ntu.edu.tw/~cjlin/libsvm
De Cubber, G., Doroftei, D., Nalpantidis, L., Sirakoulis, G.C., Gasteratos, A.: Stereo-based terrain traversability analysis for robot navigation. In: IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Brussels, Belgium (2009)
Dima, C.S., Vandapel, N., Hebert, M.: Classifier fusion for outdoor obstacle detection. In: IEEE International Conference on Robotics and Automation, vol. (1), pp. 665–671 (1994)
Happold, M., Ollis, M., Johnson, N.: Enhancing supervised terrain classification with predictive unsupervised learning. In: Robotics: Science and Systems, Philadelphia, USA (August 2006)
Howard, A., Turmon, M., Matthies, L., Tang, B., Angelova, A., Mjolsness, E.: Towards learned traversability for robot navigation: From underfoot to the far field. Journal of Field Robotics 23(11-12), 1005–1017 (2006)
Kim, D., Sun, J., Min, S., James, O., Rehg, M., Bobick, A.F.: Traversability classification using unsupervised on-line visual learning for outdoor robot navigation. In: IEEE International Conference on Robotics and Automation (2006)
Langer, D.: A behavior-based system for off-road navigation. IEEE Transactions on Robotics and Automation 10(6), 776–783 (1994)
Manduchi, R.: Learning outdoor color classification from just one training image. In: European Conference on Computer Vision, vol. 4, pp. 402–413 (2004)
Vandapel, N., Huber, D., Kapuria, A., Hebert, M.: Natural terrain classification using 3-D ladar data. In: IEEE International Conference on Robotics and Automation, vol. 5, pp. 5117–5122 (2004)
Nalpantidis, L., Sirakoulis, G.C., Carbone, A., Gasteratos, A.: Computationally effective stereovision SLAM. In: IEEE International Conference on Imaging Systems and Techniques, Thessaloniki, Greece, pp. 453–458 (July 2010)
Nalpantidis, L., Sirakoulis, G.C., Gasteratos, A.: Review of stereo vision algorithms: from software to hardware. International Journal of Optomechatronics 2(4), 435–462 (2008)
Shneier, M.O., Shackleford, W.P., Hong, T.H., Chang, T.Y.: Performance evaluation of a terrain traversability learning algorithm in the DARPA LAGR program. In: Performance Metrics for Intelligent Systems Workshop, Gaithersburg, MD, USA, pp. 103–110 (2006)
Singh, S., Simmons, R., Smith, T., Stentz, A., Verma, I., Yahja, A., Schwehr, K.: Recent progress in local and global traversability for planetary rovers. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1194–1200 (2000)
Soquet, N., Aubert, D., Hautiere, N.: Road segmentation supervised by an extended V-disparity algorithm for autonomous navigation. In: IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, pp. 160–165 (2007)
Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Hoffmann, G., Lau, K., Oakley, C., Palatucci, M., Pratt, V., Stang, P., Strohband, S., Dupont, C., Jendrossek, L.E., Koelen, C., Markey, C., Rummel, C., van Niekerk, J., Jensen, E., Alessandrini, P., Bradski, G., Davies, B., Ettinger, S., Kaehler, A., Nefian, A., Mahoney, P.: Stanley: The robot that won the DARPA grand challenge: Research articles. Journal of Robotic Systems 23(9), 661–692 (2006)
Vapnik, V.N.: The Nature of Statistical Learning Theory. Springer, New York (1995)
Zhao, J., Katupitiya, J., Ward, J.: Global correlation based ground plane estimation using V-disparity image. In: IEEE International Conference on Robotics and Automation, Rome, Italy, pp. 529–534 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kostavelis, I., Nalpantidis, L., Gasteratos, A. (2011). Supervised Traversability Learning for Robot Navigation. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_26
Download citation
DOI: https://doi.org/10.1007/978-3-642-23232-9_26
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23231-2
Online ISBN: 978-3-642-23232-9
eBook Packages: Computer ScienceComputer Science (R0)