000060652 001__ 60652 000060652 005__ 20200221144300.0 000060652 0247_ $$2doi$$a10.3390/robotics5040025 000060652 0248_ $$2sideral$$a98049 000060652 037__ $$aART-2016-98049 000060652 041__ $$aeng 000060652 100__ $$aGonzalez, Ramon 000060652 245__ $$aImproving Robot Mobility by Combining Downward-Looking and Frontal Cameras 000060652 260__ $$c2016 000060652 5060_ $$aAccess copy available to the general public$$fUnrestricted 000060652 5203_ $$aThis paper presents a novel attempt to combine a downward-looking camera and a forward-looking camera for terrain classification in the field of off-road mobile robots. The first camera is employed to identify the terrain beneath the robot. This information is then used to improve the classification of the forthcoming terrain acquired from the frontal camera. This research also shows the usefulness of the Gist descriptor for terrain classification purposes. Physical experiments conducted in different terrains (quasi-planar terrains) and different lighting conditions, confirm the satisfactory performance of this approach in comparison with a simple color-based classifier based only on frontal images. Our proposal substantially reduces the misclassification rate of the color-based classifier (~10% versus ~20%). 000060652 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2015-65962-R 000060652 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000060652 592__ $$a0.0$$b2016 000060652 593__ $$aArtificial Intelligence$$c2016 000060652 593__ $$aMechanical Engineering$$c2016 000060652 593__ $$aControl and Optimization$$c2016 000060652 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000060652 700__ $$0(orcid)0000-0001-6738-3382$$aRituerto, Alejandro 000060652 700__ $$0(orcid)0000-0001-5209-2267$$aGuerrero, J.J.$$uUniversidad de Zaragoza 000060652 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000060652 773__ $$g5, 4 (2016), [19 pp.]$$tRobotics$$x2218-6581 000060652 8564_ $$s7200352$$uhttps://zaguan.unizar.es/record/60652/files/texto_completo.pdf$$yVersión publicada 000060652 8564_ $$s106983$$uhttps://zaguan.unizar.es/record/60652/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000060652 909CO $$ooai:zaguan.unizar.es:60652$$particulos$$pdriver 000060652 951__ $$a2020-02-21-13:32:02 000060652 980__ $$aARTICLE