Rough terrain identification based on random texture analysis

Abstract

According to the characteristics of slope which block autonomous vehicle navigation under cross-country environment, textures analysis was used to compute the slant of slope. The radial competition method was presented for extracting random texture elements that could reflect the sizes of texture elements. Then based on the positions of center distributions of the same size textures, nesting clustering and linear method were used to fit the tilt and continental distance with varying weight was used to compute gradients. Slants of surfaces could be received by the calibration experiment between gradients and slants. Experimental results show that the method can compute the tilt and slant of the surface effectively and the computing error is close to the estimate error of human vision. Furthermore, the method is little affected by gray scale.