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

Tatsuhito Watanabe, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - ICIT 2011
ホスト出版物のサブタイトル2011 IEEE International Conference on Industrial Technology
ページ405-410
ページ数6
DOI
出版ステータスPublished - 2011 5月 18
イベント2011 IEEE International Conference on Industrial Technology, ICIT 2011 - Auburn, AL, United States
継続期間: 2011 3月 142011 3月 16

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

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

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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