A New Terrain Classification Framework Using Proprioceptive Sensors for Mobile Robots

Figure 8

The confusion matrices obtained with SVM at 2 m/s: (a) confusion matrix of with FFT and SVM; (b) confusion matrix of with FFT and SVM; (c) confusion matrix of with FFT and SVM; and (d) confusion matrix of with FFT and SVM. They are used as prior knowledge for each data source when the speed is 2 m/s and SVM is used.

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