Terrain classification using Laser Range Finder

This paper presents terrain classification method based on the intensity readings from Laser Range Finder. The classification is performed on the feature vectors obtained using statistical descriptors or Fourier Transform computed for the patches of the intensity map for each terrain sample. As a classifier Support Vector Machines were used. For the set of 12 terrains results of classification are reaching the level of 98% of the correctly recognized terrain samples. The proposed approach has a low computational cost, which is required for its real time applications. The article begins with the description of the experimental setup followed by the presentation of the proposed feature vectors for the registered intensity maps. Next, classification results, using introduced features, are given and compared to other approaches found in literature. At the end concluding remarks are given.