Terrain Classification for Mobile Robots on the Basis of Support Vector Data Description

Hyunsuk Lee, Woojin Chung

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


The ability to detect traversable terrains is essential for autonomous mobile robots to guarantee safe navigation. In this paper, we present a method for terrain classification for wheeled mobile robots. Our scope is limited to mobile service robots that are used for surveillance or delivery in semi-structured urban environments. A reliable terrain detection scheme is required for both indoor and outdoor applications anytime. A low-cost Lidar (Light detection and ranging) is adopted for terrain detection. To deal with intrinsic measurement errors and uncertainties of the Lidar, the classification criteria are trained through a supervised learning approach. Training data are obtained from manual driving at target environments. Various decision boundaries resulted from a variety of floor conditions, sensor types and robot platforms. The proposed terrain classification scheme is experimentally tested in success.

Original languageEnglish
Pages (from-to)1305-1315
Number of pages11
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number9
Publication statusPublished - 2018 Sept 1


  • Classification
  • Mapping
  • Mobile robot
  • Obstacle detection
  • Traversability analysis

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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