Terrain classification using w-k filter and 3d navigation with static collision avoidance

Abstract

The ability to autonomously navigate in an unknown and dynamic environment avoiding obstacles while, at the same time, classify various types of terrain are challenges that have been mainly faced by researchers from the computer vision area. Solutions to these problems are of great interest for collaborative autonomous navigation robots. For example an Unmanned Aerial Vehicle (UAV) may be used to determine the path which an Unmanned Surface Vehicle (USV) has to navigate to reach the intended destination. This paper presents a novel vision based algorithm that allows for independent navigation with on flight obstacle avoidance planning, while simultaneously classifying different terrain type using a Wiener-Khinchin (W-K) Filter.