Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Table 3

Terrain classification confusion matrix of SVM classifier trained using 84-dimension data samples (filtered).

Terrain	Predicted class
	1	2	3	4	5
Actual class
Level Ground (1)	1760	0	6	21	13
Nontraversable (2)	1	1774	0	24	1
Stair Down (3)	2	1	1791	3	3
Stair Up (4)	8	14	0	1777	1
Uneven (5)	111	11	2	46	1630