Journal of Sensors / 2015 / Article / Tab 3

Research Article

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).

TerrainPredicted class
12345

Actual class
 Level Ground (1)1760062113
 Nontraversable (2)117740241
 Stair Down (3)21179133
 Stair Up (4)814017771
 Uneven (5)111112461630

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