医疗卫生装备2017，Vol.38Issue(2)：114-117,121,5.DOI:10.7687/J.ISSN1003-8868.2017.02.114
基于视觉采用词袋模型的移动机器人地形分类算法设计
Visual terrain classification for mobile robot using bag of words
摘要
Abstract
Objective To design a visual terrain classification algorithm to facilitate the robot to make appropriate movement strategy by perceiving the surrounding environment.Methods Bag of words (BOW) and support vector machine (SVM) were used to develop a simple and effective terrain classification algorithm.The BOW model involved in feature extraction,codebook generation and feature coding.The mid-level feature developed by BOW model was then fed into SVM classifier to obtain the terrain classification result.Results The quadruped robot platform was applied to performing visual terrain classification experiment in the natural environment.The test environment included floor,asphalt,sand and grass.Good experimental results were achieved,and the classification accuracy was above 90％ (the beat was 97.54％ for grass).Conclusion The algorithm can effectively and accurately distinguish all kinds of terrains,with high accuracy and good stability.The key frame selection method needs researching in the future.关键词
地形分类/视觉方法/词袋模型/移动机器人/支持向量机Key words
terrain classification/visual method/bag of words/mobile robot/support vector machine分类
医药卫生引用本文复制引用
孙玉超,吴航,苏卫华,陈卓,安慰宁,秦晓丽..基于视觉采用词袋模型的移动机器人地形分类算法设计[J].医疗卫生装备,2017,38(2):114-117,121,5.基金项目
原总后卫生部重点项目(BWS14C054) （BWS14C054）
军队后勤科研计划重大项目(AWS16J001) （AWS16J001）
天津科技支撑计划重点研发计划(16YFZCSF00590) （16YFZCSF00590）
