Measurement and Analysis of Granular Soil Beneath Lightweight Robotic Running Gear
Abstract
A simple and efficient methodology to generate a mobility map accounting for two sources of uncertainty, namely measurement errors (RMSE of a Digital Elevation Model) and interpolation error (kriging method) is proposed. This methodology means a general-purpose solution since it works with standard and publicly-available Digital Elevation Models (DEMs). The different regions in the map are classified according to the geometry of the surface (i.e. slope) and the soil type. A novel segmentation-based approach has also been proposed to divide the regions of interest into segments where stationarity is ensured. Finally, an initial investigation has been performed showing the major impact that moisture and vegetation produce on a soil and how that effect may be measured using thermal cameras.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 27, 2017
- Accession Number
- AD1058591
Entities
People
- Karl Iagnemma
Organizations
- Massachusetts Institute of Technology