Deep Feature Learning for Acoustics-Based Terrain Classification

  title={Deep Feature Learning for Acoustics-Based Terrain Classification},
  author={Abhinav Valada and Luciano Spinello and Wolfram Burgard},
In order for robots to efficiently navigate in real-world environments, they need to be able to classify and characterize terrain for safe navigation. The majority of techniques for terrain classification is predominantly based on using visual features. However, as vision-based approaches are severely affected by appearance variations and occlusions, relying solely on them incapacitates the ability to function robustly in all conditions. In this paper, we propose an approach that uses sound… CONTINUE READING
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