Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification

Table 1

Confusion matrix of cross validation with all terrains.

Terrain type	Marble (%)	Concrete (%)	Asphalt (%)	Grassland (%)
Marble	98.7	0	0.9	0.4
Concrete	0	85.6	5.1	0
Asphalt	0	13.8	89.5	0
Grassland	1.3	0.6	4.5	99.6