NDLI: Traversability classification for UGV navigation: a comparison of patch and superpixel representations

Content Provider	IEEE Xplore Digital Library
Author	Dongshin Kim Sang Min Oh Rehg, J.M.
Copyright Year	2007
Description	Author affiliation: Georgia Inst. of Technol., Atlanta (Dongshin Kim; Sang Min Oh; Rehg, J.M.)
Abstract	Robot navigation in complex outdoor terrain can benefit from accurate traversability classification. Appearance- based traversability estimation can provide a long-range sensing capability which complements the traditional use of stereo or LIDAR ranging. In the standard approach to traversability classification, each image frame is decomposed into patches or pixels for further analysis. However, classification at the pixel level is prone to noise and complicates the task of identifying homogeneous regions for navigation. Fixed-sized patches aggregate pixel information, resulting in better noise properties, but they can span multiple distinct image regions, which can degrade the classification performance and make thin obstacles difficult to detect. We address the use of superpixels as the visual primitives for traversability estimation. Superpixels are obtained from an over-segmentation of the image and they aggregate visually homogeneous pixels while respecting natural terrain boundaries. We show that superpixels are superior to patches in classification accuracy and result in more effective navigation in complex terrain environments. Our experimental results include a study of the effect of patch and superpixel size on classification accuracy. We demonstrate that superpixels can be computed on-line on a real robot at a sufficient frame rate to support long-range sensing and planning.
Starting Page	3166
Ending Page	3173
File Size	1604482
Page Count	8
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399610
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Pixel Degradation Intelligent robots Robot sensing systems Image analysis Aggregates Stereo vision Shape Layout
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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