Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Terrain Cover Classification Technique Based on Support Vector Machine

Support Vector Machine 기반 지형분류 기법

  • Published : 2008.11.25
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Abstract

For effective mobility control of UGV(unmanned ground vehicle), the terrain cover classification is an important component as well as terrain geometry recognition and obstacle detection. The vision based terrain cover classification algorithm consists of pre-processing, feature extraction, classification and post-processing. In this paper, we present a method to classify terrain covers based on the color and texture information. The color space conversion is performed for the pre-processing, the wavelet transform is applied for feature extraction, and the SVM(support vector machine) is applied for the classifier. Experimental results show that the proposed algorithm has a promising classification performance.

야외 환경에서 무인차량의 자율주행에 있어서 효과적인 기동제어를 위해서는 장애물 탐지나 지형의 기하학적인 형상 정보외에 탐지된 장애물 및 지형 표면에 대한 재질 유형의 인식 및 분류 또한 중요한 요소이다. 영상 기반의 지표면 분류 알고리듬은 입력 영상에 대한 전처리, 특징추출, 분류 및 후처리의 절차로 수행된다. 본 논문에서는 컬러 CCD 카메라로부터 획득된 야외 지형영상에 대해 색상 및 질감 정보를 이용한 지형분류 기법을 제시한다. 전처리 단계에서 색공간 변환을 수행하고, 색상과 질감 정보를 이용하기 위해 웨이블릿 변환 특징을 사용하였으며, 분류기로서는 SVM(support vector machine)을 적용하였다. 야외 환경에서 획득된 실영상에 대한 실험을 통하여 제시된 알고리듬의 분류 성능을 평가하였으며, 제시된 알고리듬에 의한 효과적인 야지 지형분류의 가능성을 확인하였다.

Keywords

References

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