ROBUST CLASSIFICATION BASED ON PRIOR OF LOCAL DIFFERENCE PROBABILITY FOR THE UNMANNED GROUND VEHICLES

Pangyu Jeong, Sergiu Nedevschi

Abstract

The aim of this paper is to propose a new classification method based on the noise tolerant LDP (Local Difference Probability) prior-based discriminator for the unmanned ground vehicles. This proposed classification has three characteristics, namely, probability features space instead of Gray intensity features space, Bimodal Gaussian discriminator (noise tolerant discriminator), and single class cluster center based classification (only road class). Based on these components, the classification ability and classification time-cost are better than in generic classification method; K-Mean, Fuzzy K-Mean, Contiguity K-Mean, K-Mean applied on the texture features obtained from GMRF and from Gabor filter bank. The core of the proposed classification is a discriminator (prior density), and it is obtained from the mean of the distances of Local Difference Probabilities (LDPs) in the randomly selected road area. The road area is randomly selected in front of ego vehicle, and the initial class cluster center is employed inside the sampled road area. The road features are classified from around single cluster center to the entire image space.

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Paper Citation


in Harvard Style

Jeong P. and Nedevschi S. (2006). ROBUST CLASSIFICATION BASED ON PRIOR OF LOCAL DIFFERENCE PROBABILITY FOR THE UNMANNED GROUND VEHICLES . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, ISBN 972-8865-40-6, pages 445-450. DOI: 10.5220/0001370604450450


in Bibtex Style

@conference{visapp06,
author={Pangyu Jeong and Sergiu Nedevschi},
title={ROBUST CLASSIFICATION BASED ON PRIOR OF LOCAL DIFFERENCE PROBABILITY FOR THE UNMANNED GROUND VEHICLES},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP,},
year={2006},
pages={445-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001370604450450},
isbn={972-8865-40-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP,
TI - ROBUST CLASSIFICATION BASED ON PRIOR OF LOCAL DIFFERENCE PROBABILITY FOR THE UNMANNED GROUND VEHICLES
SN - 972-8865-40-6
AU - Jeong P.
AU - Nedevschi S.
PY - 2006
SP - 445
EP - 450
DO - 10.5220/0001370604450450