On-line recognition of driving road condition using support vector machine

Tatsuhito Watanabe, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A person operating a mobile robot in a remote environment receives a realistic visual feedback about the condition of the road on where the mobile robot is moving. A categorization of the road condition is necessary to evaluate the condition for safe and comfortable driving. For this purpose, the mobile robot should be capable of recognizing and classifying the condition of the road surfaces. In a previous research, author proposed a method to recognize the type of the road surfaces on the basis of the friction between the mobile robot and the road surfaces. The friction is estimated by a reaction torque observer, and a Support Vector Machine (SVM) is used to classify the surfaces. In this paper, SVM is calculated on-line, and multi-class classification is realized. Moreover, the operator is given feedback of haptic information by using mobile-hapto system As a result, the operator is given visual and force feedback about road condition. By experiments, the validity of the proposed method is confirmed.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages405-410
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
Duration: 2011 Mar 142011 Mar 16

Other

Other2011 IEEE International Conference on Industrial Technology, ICIT 2011
CountryUnited States
CityAuburn, AL
Period11/3/1411/3/16

Fingerprint

Mobile robots
Support vector machines
Feedback
Friction
Torque
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Watanabe, T., & Katsura, S. (2011). On-line recognition of driving road condition using support vector machine. In Proceedings of the IEEE International Conference on Industrial Technology (pp. 405-410). [5754411] https://doi.org/10.1109/ICIT.2011.5754411

On-line recognition of driving road condition using support vector machine. / Watanabe, Tatsuhito; Katsura, Seiichiro.

Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 405-410 5754411.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Watanabe, T & Katsura, S 2011, On-line recognition of driving road condition using support vector machine. in Proceedings of the IEEE International Conference on Industrial Technology., 5754411, pp. 405-410, 2011 IEEE International Conference on Industrial Technology, ICIT 2011, Auburn, AL, United States, 11/3/14. https://doi.org/10.1109/ICIT.2011.5754411
Watanabe T, Katsura S. On-line recognition of driving road condition using support vector machine. In Proceedings of the IEEE International Conference on Industrial Technology. 2011. p. 405-410. 5754411 https://doi.org/10.1109/ICIT.2011.5754411
Watanabe, Tatsuhito ; Katsura, Seiichiro. / On-line recognition of driving road condition using support vector machine. Proceedings of the IEEE International Conference on Industrial Technology. 2011. pp. 405-410
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