A study of visual and tactile terrain classification and classifier fusion for planetary exploration rovers

Robotica ◽  
2008 ◽  
Vol 26 (6) ◽  
pp. 767-779 ◽  
Author(s):  
Ibrahim Halatci ◽  
Christopher A. Brooks ◽  
Karl Iagnemma
Keyword(s):  
Likelihood Estimation ◽  
Physical Nature ◽  
Planetary Exploration ◽  
Classifier Fusion ◽  
Support Vector ◽  
Physical Parameters ◽  
Classification Methods ◽  
Terrain Classification ◽  
Test Bed ◽  
Novel Approach

SUMMARYKnowledge of the physical properties of terrain surrounding a planetary exploration rover can be used to allow a rover system to fully exploit its mobility capabilities. Terrain classification methods provide semantic descriptions of the physical nature of a given terrain region. These descriptions can be associated with nominal numerical physical parameters, and/or nominal traversability estimates, to improve mobility prediction accuracy. Here we study the performance of multisensor classification methods in the context of Mars surface exploration. The performance of two classification algorithms for color, texture, and range features are presented based on maximum likelihood estimation and support vector machines. In addition, a classification method based on vibration features derived from rover wheel–terrain interaction is briefly described. Two techniques for merging the results of these “low-level” classifiers are presented that rely on Bayesian fusion and meta-classifier fusion. The performance of these algorithms is studied using images from NASA's Mars Exploration Rover mission and through experiments on a four-wheeled test-bed rover operating in Mars-analog terrain. Also a novel approach to terrain sensing based on fused tactile and visual features is presented. It is shown that accurate terrain classification can be achieved via classifier fusion from visual and tactile features.

New Multi-View Classification Method with Uncertain Data

2021 ◽  
Vol 16 (1) ◽  
pp. 1-23
Author(s):  
Bo Liu ◽  
Haowen Zhong ◽  
Yanshan Xiao
Keyword(s):  
Learning Strategy ◽  
State Of The Art ◽  
Uncertain Data ◽  
Real Life ◽  
Support Vector ◽  
Classification Methods ◽  
Complementary Information ◽  
Novel Approach ◽  
Svm Model ◽  
Iterative Framework

Multi-view classification aims at designing a multi-view learning strategy to train a classifier from multi-view data, which are easily collected in practice. Most of the existing works focus on multi-view classification by assuming the multi-view data are collected with precise information. However, we always collect the uncertain multi-view data due to the collection process is corrupted with noise in real-life application. In this case, this article proposes a novel approach, called uncertain multi-view learning with support vector machine (UMV-SVM) to cope with the problem of multi-view learning with uncertain data. The method first enforces the agreement among all the views to seek complementary information of multi-view data and takes the uncertainty of the multi-view data into consideration by modeling reachability area of the noise. Then it proposes an iterative framework to solve the proposed UMV-SVM model such that we can obtain the multi-view classifier for prediction. Extensive experiments on real-life datasets have shown that the proposed UMV-SVM can achieve a better performance for uncertain multi-view classification in comparison to the state-of-the-art multi-view classification methods.

Outdoor Navigating Scene Labeling Using Importance Factor Based I-RELIEF and Feature Weighted Support Vector Machines

2014 ◽  
Vol 511-512 ◽  
pp. 467-474
Author(s):  
Jun Tu ◽  
Cheng Liang Liu ◽  
Zhong Hua Miao
Keyword(s):  
Support Vector Machines ◽  
Image Data ◽  
Kernel Functions ◽  
Support Vector ◽  
Terrain Classification ◽  
Relief Algorithm ◽  
Novel Approach ◽  
Scene Labeling ◽  
Vector Machines ◽  
Importance Factor

Feature selection plays an important role in terrain classification for outdoor robot navigation. For terrain classification, the image data usually have a large number of feature dimensions. The better selection of features usually results in higher labeling accuracy. In this work, a novel approach for terrain perception using Importance Factor based I-Relief algorithm and Feature Weighted Support Vector Machines (IFIR-FWSVM) is put forward. Firstly, the weight of each feature for classification is computed by using Importance Factor based I-Relief algorithm (IFIR) and the irrelevant features are eliminated. Then the weighted features are used to compute the kernel functions of SVM and trained the classifier. Finally, the trained SVM is employed to predict the terrain label in the far-field regions. Experimental results based on DARPA datasets show that the proposed method IFIR-FWSVM is superior over traditional SVM.

Vibration-Based Terrain Identification for Planetary Exploration Robots Using Support Vector Machine

2012 ◽  
Vol 220-223 ◽  
pp. 1171-1174
Author(s):  
Qiang Li ◽  
Kai Xue ◽  
He Xu ◽  
Wen Lin Pan ◽  
Zhi Xu Li
Keyword(s):  
Support Vector Machine ◽  
Original Data ◽  
Front Wheel ◽  
Planetary Exploration ◽  
Support Vector ◽  
Terrain Classification ◽  
Feature Extraction Method ◽  
Four Dimensions ◽  
Acceleration Signal ◽  
Multi Class Classification

Human ability to explore planets (e.g. the moon, Mars) depends on the autonomous mobile performance of planetary exploration robots, so studying on terrain classification is important for it. Vibration-based terrain classification unlike vision classification affected by lighting variations, easily cheated by covering of surface, it analyses the vibration signals from wheel-terrain interaction to classify. Three accelerometers in x, y, z direction and a microphone in z direction were mounted to arm of the left-front wheel. The robot drove on the sand, gravel, grass, clay and asphalt at six speeds, three groups of acceleration signal and one group of sound pressure signal were received. The original signals were dealt using Time Amplitude Domain Analysis. Original data were divided into segments, each segment was a three centimeters distance of driving; eleven features from every segment were normalized. The data from four sensors were merged into a forty-four dimensions feature vector. Ten one against one classifiers of Support Vector Machine (SVM) were used to classify; one against one SVM program from LibSVM was applied to multi-class classification using voting strategy in MATLAB. Facing to the same number of votes, we propose a new algorithm. Experimental results demonstrate the effectiveness of the feature extraction method and the multi-class SVM algorithm.

scholarly journals Superpixel Segmentation Based Synthetic Classifications with Clear Boundary Information for a Legged Robot

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2808 ◽  
Author(s):  
Yaguang Zhu ◽  
Kailu Luo ◽  
Chao Ma ◽  
Qiong Liu ◽  
Bo Jin
Keyword(s):  
Classification Model ◽  
Walking Robots ◽  
Support Vector ◽  
Classification Methods ◽  
Legged Robot ◽  
Terrain Classification ◽  
Irregular Terrain ◽  
Superpixel Segmentation ◽  
Simple Linear Iterative Clustering ◽  
Boundary Information

In view of terrain classification of the autonomous multi-legged walking robots, two synthetic classification methods for terrain classification, Simple Linear Iterative Clustering based Support Vector Machine (SLIC-SVM) and Simple Linear Iterative Clustering based SegNet (SLIC-SegNet), are proposed. SLIC-SVM is proposed to solve the problem that the SVM can only output a single terrain label and fails to identify the mixed terrain. The SLIC-SegNet single-input multi-output terrain classification model is derived to improve the applicability of the terrain classifier. Since terrain classification results of high quality for legged robot use are hard to gain, the SLIC-SegNet obtains the satisfied information without too much effort. A series of experiments on regular terrain, irregular terrain and mixed terrain were conducted to present that both superpixel segmentation based synthetic classification methods can supply reliable mixed terrain classification result with clear boundary information and will put the terrain depending gait selection and path planning of the multi-legged robots into practice.

Vibration-based Terrain Classification for Mobile Robots Using Support Vector Machine

ROBOT ◽  
2012 ◽  
Vol 34 (6) ◽  
pp. 660 ◽  
Author(s):  
Qiang LI ◽  
Kai XUE ◽  
He XU ◽  
Wenlin PAN ◽  
Tianlong WANG
Keyword(s):  
Support Vector Machine ◽  
Mobile Robots ◽  
Support Vector ◽  
Terrain Classification

scholarly journals Automated Confirmation of Protein Annotation Using NLP and the UniProtKB Database

2020 ◽  
Vol 11 (1) ◽  
pp. 24
Author(s):  
Jin Tao ◽  
Kelly Brayton ◽  
Shira Broschat
Keyword(s):  
Language Processing ◽  
Fine Tuning ◽  
Support Vector ◽  
Protein Annotation ◽  
Computing Power ◽  
Journal Publication ◽  
Novel Approach ◽  
Uniprotkb Database ◽  
Public Repositories ◽  
Annotation Errors

Advances in genome sequencing technology and computing power have brought about the explosive growth of sequenced genomes in public repositories with a concomitant increase in annotation errors. Many protein sequences are annotated using computational analysis rather than experimental verification, leading to inaccuracies in annotation. Confirmation of existing protein annotations is urgently needed before misannotation becomes even more prevalent due to error propagation. In this work we present a novel approach for automatically confirming the existence of manually curated information with experimental evidence of protein annotation. Our ensemble learning method uses a combination of recurrent convolutional neural network, logistic regression, and support vector machine models. Natural language processing in the form of word embeddings is used with journal publication titles retrieved from the UniProtKB database. Importantly, we use recall as our most significant metric to ensure the maximum number of verifications possible; results are reported to a human curator for confirmation. Our ensemble model achieves 91.25% recall, 71.26% accuracy, 65.19% precision, and an F1 score of 76.05% and outperforms the Bidirectional Encoder Representations from Transformers for Biomedical Text Mining (BioBERT) model with fine-tuning using the same data.

scholarly journals Fugl-Meyer hand motor imagination recognition for brain–computer interfaces using only fNIRS

2021 ◽  
Author(s):  
Chenguang Li ◽  
Hongjun Yang ◽  
Long Cheng
Keyword(s):  
Classification Accuracy ◽  
Near Infrared ◽  
Support Vector ◽  
Classification Methods ◽  
Experimental Paradigm ◽  
Functional Near Infrared Spectroscopy ◽  
Machine Method ◽  
Physiological Signal ◽  
Computer Interfaces ◽  
Mode Decomposition

AbstractAs a relatively new physiological signal of brain, functional near-infrared spectroscopy (fNIRS) is being used more and more in brain–computer interface field, especially in the task of motor imagery. However, the classification accuracy based on this signal is relatively low. To improve the accuracy of classification, this paper proposes a new experimental paradigm and only uses fNIRS signals to complete the classification task of six subjects. Notably, the experiment is carried out in a non-laboratory environment, and movements of motion imagination are properly designed. And when the subjects are imagining the motions, they are also subvocalizing the movements to prevent distraction. Therefore, according to the motor area theory of the cerebral cortex, the positions of the fNIRS probes have been slightly adjusted compared with other methods. Next, the signals are classified by nine classification methods, and the different features and classification methods are compared. The results show that under this new experimental paradigm, the classification accuracy of 89.12% and 88.47% can be achieved using the support vector machine method and the random forest method, respectively, which shows that the paradigm is effective. Finally, by selecting five channels with the largest variance after empirical mode decomposition of the original signal, similar classification results can be achieved.

scholarly journals Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

2021 ◽  
Author(s):  
Yue Zhao ◽  
Feng Gao ◽  
Qiao Sun ◽  
Yunpeng Yin
Keyword(s):  
Legged Robots ◽  
Measurement Unit ◽  
Support Vector ◽  
Hexapod Robot ◽  
Terrain Classification ◽  
Adaptive Locomotion ◽  
Joint Torques ◽  
Active Compliance ◽  
Outdoor Environments ◽  
The Stability

AbstractLegged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

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