Learning terrain segmentation with classifier ensembles for autonomous robot navigation in unstructured environments

From Data to Actions in Intelligent Transportation Systems: A Prescription of Functional Requirements for Model Actionability

Advances in Data Science permeate every field of Transportation Science and Engineering, resulting in developments in the transportation sector that are data-driven. Nowadays, Intelligent Transportation Systems (ITS) could be arguably approached as a "story" intensively producing and consuming large amounts of data. A diversity of sensing devices densely spread over the infrastructure, vehicles or the travelers' personal devices act as sources of data flows that are eventually fed into software running on automatic devices, actuators or control systems producing, in turn, complex information flows among users, traffic managers, data analysts, traffic modeling scientists, etc. These information flows provide enormous opportunities to improve model development and decision-making. This work aims to describe how data, coming from diverse ITS sources, can be used to learn and adapt data-driven models for efficiently operating ITS assets, systems and processes; in other words, for data-based models to fully become actionable. Grounded in this described data modeling pipeline for ITS, we define the characteristics, engineering requisites and challenges intrinsic to its three compounding stages, namely, data fusion, adaptive learning and model evaluation. We deliberately generalize model learning to be adaptive, since, in the core of our paper is the firm conviction that most learners will have to adapt to the ever-changing phenomenon scenario underlying the majority of ITS applications. Finally, we provide a prospect of current research lines within Data Science that can bring notable advances to data-based ITS modeling, which will eventually bridge the gap towards the practicality and actionability of such models.

Obstacle classification and 3D measurement in unstructured environments based on ToF cameras

Inspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient.

Learning Long-range Terrain Perception for Autonomous Mobile Robots

Long-range terrain perception has a high value in performing efficient autonomous navigation and risky intervention tasks for field robots, such as earlier recognition of hazards, better path planning, and higher speeds. However, Stereo-based navigation systems can only perceive near-field terrain due to the nearsightedness of stereo vision. Many near-to-far learning methods, based on regions' appearance features, are proposed to predict the far-field terrain. We proposed a statistical prediction framework to enhance long-range terrain perception for autonomous mobile robots. The main difference between our solution and other existing methods is that our framework not only includes appearance features as its prediction basis, but also incorporates spatial relationships between terrain regions in a principled way. The experiment results show that our framework outperforms other existing approaches in terms of accuracy, robustness and adaptability to dynamic unstructured outdoor environments.