Construction of an Environmental Map including Road Surface Classification Based on a Coaxial Two-Wheeled Robot

  • Minoru Sasaki
  • Eita Kunii
  • Kojiro Matsushita

Abstract

This research details the construction of an environmental map as well as road surface identification based on a coaxial two-wheel robot. The proposed system utilizes ROS and SLAM algorithm for indoor/outdoor environment mapping from sensor data and road-surface discriminator based on attitude estimation and image processing. From the research, environmental maps of various road surfaces were constructed and road types successfully identified with 80% accuracy using Deep Learning.
Published
Feb 19, 2020
How to Cite
SASAKI, Minoru; KUNII, Eita; MATSUSHITA, Kojiro. Construction of an Environmental Map including Road Surface Classification Based on a Coaxial Two-Wheeled Robot. Proceedings of Sustainable Research and Innovation Conference, [S.l.], p. 13-18, feb. 2020. ISSN 2079-6226. Available at: <http://sri.jkuat.ac.ke/ojs/index.php/proceedings/article/view/872>. Date accessed: 06 july 2020.