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

Table 2

Comparison of operation time of terrain classification algorithm with/without kinematic model.

Terrain type	Without kinematic model		With kinematic model
	Average time (s)	Maximum time (s)	Average time (s)	Maximum time (s)
Marble	2.11	2.20	0.47	0.64
Concrete	2.20	2.23	0.48	0.67
Asphalt	2.19	2.24	0.47	0.73
Grassland	2.02	2.09	0.46	0.63