About: Adapting Polynomial Mahalanobis Distance for Self-Supervised Learning in an Outdoor Environment

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper addresses the problem of autonomous navigation of UGV in an unstructured environment. Generally, state-of-the-art approaches use color based segmentation of road/non-road regions in particular. There arises an important question, how is the distance between an input pixel and a color model measured. Many algorithms employ Mahalanobis distance, since Mahalanobis distance better follows the data distribution, however it is assumed, that the data points have a normal distribution. Recently proposed Polynomial Mahalanobis Distance (PMD) represents more discriminative metric, which provides superior results in an unstructured terrain, especially, if the road is barely visible even for humans. In this paper, we discuss properties of the Polynomial Mahalanobis Distance, and propose a novel framework - A Three Stage Algorithm (TSA), which deals with both, picking of suitable data points from the training area as well as self-supervised learning algorithm for long-term road representation. This paper addresses the problem of autonomous navigation of UGV in an unstructured environment. Generally, state-of-the-art approaches use color based segmentation of road/non-road regions in particular. There arises an important question, how is the distance between an input pixel and a color model measured. Many algorithms employ Mahalanobis distance, since Mahalanobis distance better follows the data distribution, however it is assumed, that the data points have a normal distribution. Recently proposed Polynomial Mahalanobis Distance (PMD) represents more discriminative metric, which provides superior results in an unstructured terrain, especially, if the road is barely visible even for humans. In this paper, we discuss properties of the Polynomial Mahalanobis Distance, and propose a novel framework - A Three Stage Algorithm (TSA), which deals with both, picking of suitable data points from the training area as well as self-supervised learning algorithm for long-term road representation. (en)
Title	Adapting Polynomial Mahalanobis Distance for Self-Supervised Learning in an Outdoor Environment Adapting Polynomial Mahalanobis Distance for Self-Supervised Learning in an Outdoor Environment (en)
skos:prefLabel	Adapting Polynomial Mahalanobis Distance for Self-Supervised Learning in an Outdoor Environment Adapting Polynomial Mahalanobis Distance for Self-Supervised Learning in an Outdoor Environment (en)
skos:notation	RIV/00216305:26220/12:PU97099!RIV14-MSM-26220___
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM0021630529)
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Richter, Miloslav Mikšík, Ondřej Petyovský, Petr
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoké učení technické v Brně / Fakulta elektrotechniky a komunikačních technologií
http://linked.open...dnocenehoVysledku	121032
http://linked.open...ai/riv/idVysledku	RIV/00216305:26220/12:PU97099
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Polynomial Mahalanobis Distance, A Three Stage Algorithm, Self-supervised Learning, Robotics (en)
http://linked.open.../riv/klicoveSlovo	A Three Stage Algorithm Polynomial Mahalanobis Distance Self-supervised Learning Robotics
http://linked.open...ontrolniKodProRIV	[A252B0BFA797]
http://linked.open...v/mistoKonaniAkce	Honolulu, Hawaii
http://linked.open...i/riv/mistoVydani	Neuveden
http://linked.open...i/riv/nazevZdroje	Proceedings, The 10th International Conference on Machine Learning and Applications, ICMLA 2011, Volume 1: Main Conference (ISBN 978-1-4577-2134-2 , 978-0-7695-4607-0)
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Richter, Miloslav Mikšík, Ondřej Petyovský, Petr
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2011-12-18 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Inteligentní systémy v automatizaci
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	The Institute of Electrical and Electronics Engineers, Inc.
https://schema.org/isbn	978-1-4577-2134-2
http://localhost/t...ganizacniJednotka	26220

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