Field terrain recognition based on extreme learning theory using wavelet and texture features

摘要

Terrain recognition technology plays a key role in enhancing autonomous mobility for Quadruped robot in off-road environments. However, feature extraction and classification algorithm are the key to accuracy and efficiency of the terrain recognition. Regarding the characteristics of different terrain surface properties and structures, it gets low-dimensional and high dimensional characteristics by texture features and wavelet transform and uses them as training features of classifier. Then its efficiency is not high and convergence speed is slow for traditional learning algorithm, which is difficult to meet the requirements. So the extreme learning machine is used to classify the terrain pictures collected by robot in real time. Experimental results show that the accuracy of extreme learning machine terrain classification is higher than the traditional neural network algorithm and the support vector machine, and algorithm efficiency is raised more than several times for the sample size of 6000, which meets the requirements for accuracy, especially for real time.