We describe a novel method for classifying terrain in unstructured, natural environments for the purpose of aiding mobile robot navigation. This method operates on range data provided by stereo without the traditional preliminary extraction of geometric features such as height and slope, replacing these measurements with 2D histograms representing the shape and permeability of objects within a local region. A convolutional neural network is trained to categorize the histogram samples according to the traversability of the terrain they represent for a small mobile robot. In live and offline testing in a wide variety of environments, it demonstrates state-of-the-art performance.
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
Talukder A, Manduchi R, Rankin A, Matthies L (2002) Fast and reliable obstacle detection and segmentation for cross-country navigation. In: Proc. of the IEEE Intelligent Vehicles Symp.
LeCun Y, Muller U, Ben J, Cosatto E, Flepp B (2005) Off-road obstacle avoidance through end-to-end learning. In: Advances in Neural Information Processing Systems 18. MIT Press, Cambridge.
Vandapel N, Hebert M (2004) Finding organized structures in 3-d ladar data. In: Proc. of the 24th Army Science Conf.
LeCun Y, Bottou L, Bengio Y, Haffner P (1998) Gradient-based learning applied to document recognition. Proc. of the IEEE 86:2278-2324.
Riedmiller M, Braun H (1993) A direct adaptive method for faster backpropagation learning: the rprop algorithm. In: Proc. of the IEEE Int. Conf. on Neural Networks.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Happold, M., Ollis, M. (2007). Using Learned Features from 3D Data for Robot Navigation. In: Mukhopadhyay, S.C., Gupta, G.S. (eds) Autonomous Robots and Agents. Studies in Computational Intelligence, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73424-6_8
Download citation
DOI: https://doi.org/10.1007/978-3-540-73424-6_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73423-9
Online ISBN: 978-3-540-73424-6
eBook Packages: EngineeringEngineering (R0)