Mathematical Problems in Engineering / 2017 / Article / Fig 4

Research Article

A New Terrain Classification Framework Using Proprioceptive Sensors for Mobile Robots

Figure 4

Confusion matrix for six-class terrain classification using SVM classifier and 18-dimensional MMFCC at speed of 2 m/s. The terrain representations: : brick, : asphalt, : low grass, : firm soil, : gravel, and : soft soil.

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