{"id":"https://openalex.org/W4390099523","doi":"https://doi.org/10.1109/robio58561.2023.10354894","title":"Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics","display_name":"Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099523","doi":"https://doi.org/10.1109/robio58561.2023.10354894"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035110544","display_name":"Longteng Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Longteng Hu","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103219247","display_name":"Feng Xue","orcid":"https://orcid.org/0000-0002-2446-1413"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Xue","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100761070","display_name":"Chen Yao","orcid":"https://orcid.org/0009-0004-2383-8217"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Yao","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044317874","display_name":"Yunzhou Li","orcid":"https://orcid.org/0009-0004-7911-4461"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Li","raw_affiliation_strings":["Harbin of Institute of Technology (HIT),Harbin,China,150090"],"affiliations":[{"raw_affiliation_string":"Harbin of Institute of Technology (HIT),Harbin,China,150090","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114514469","display_name":"Jin Wei","orcid":"https://orcid.org/0009-0003-1095-3972"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Wei","raw_affiliation_strings":["Harbin of Institute of Technology (HIT),Harbin,China,150090"],"affiliations":[{"raw_affiliation_string":"Harbin of Institute of Technology (HIT),Harbin,China,150090","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103580602","display_name":"Peichen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peichen Wang","raw_affiliation_strings":["Harbin of Institute of Technology (HIT),Harbin,China,150090"],"affiliations":[{"raw_affiliation_string":"Harbin of Institute of Technology (HIT),Harbin,China,150090","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106484401","display_name":"Zheng Zhu","orcid":"https://orcid.org/0000-0001-9037-7984"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhu","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhong Jia","raw_affiliation_strings":["Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Department of Mechanical and Energy Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5035110544"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.1542,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48573868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12732","display_name":"Agriculture and Farm Safety","score":0.965399980545044,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9596999883651733,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.9145185947418213},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.72027987241745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7190568447113037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5909714698791504},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5104409456253052},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4898354709148407},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41292843222618103}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9145185947418213},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.72027987241745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7190568447113037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5909714698791504},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5104409456253052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4898354709148407},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41292843222618103},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1977753016","https://openalex.org/W2072400776","https://openalex.org/W2119492493","https://openalex.org/W2164958744","https://openalex.org/W2167683317","https://openalex.org/W2167819645","https://openalex.org/W2319961868","https://openalex.org/W2750751986","https://openalex.org/W2766168346","https://openalex.org/W2960309803","https://openalex.org/W3004376344","https://openalex.org/W3096411729","https://openalex.org/W3105757741","https://openalex.org/W4220783120","https://openalex.org/W4225494441","https://openalex.org/W4313017268","https://openalex.org/W4313025077","https://openalex.org/W4387587632"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2338718585","https://openalex.org/W2054620577"],"abstract_inverted_index":{"The":[0,96,140],"wheeled":[1],"rover":[2],"is":[3,47,62,98],"widely":[4],"used":[5,41],"in":[6,51,145],"off-road":[7],"planetary":[8],"exploration":[9],"tasks":[10],"nowadays.":[11],"However,":[12],"complex":[13],"operating":[14],"environment":[15],"like":[16],"soft":[17],"deformable":[18],"terrains":[19],"on":[20,42],"the":[21,25,43,79,123,129,137,146,153,162,170],"planet":[22],"surface":[23],"demands":[24],"high":[26],"performance":[27,126],"of":[28,128,142,148,155,164],"rover.":[29,44],"In":[30,54],"order":[31],"to":[32,39,78,87,92],"reduce":[33],"danger,":[34],"environmental":[35,52],"perception":[36],"technologies":[37],"need":[38],"be":[40],"Terrain":[45],"classification":[46,60,112],"a":[48,57,94],"critical":[49],"method":[50,61,65,144],"perception.":[53],"this":[55],"research,":[56],"wheel-vision-based":[58],"terrain":[59,80,111],"proposed.":[63],"This":[64],"uses":[66],"wheel-terrain":[67],"interaction":[68],"parameters":[69],"obtained":[70,99],"from":[71],"inside-wheel":[72],"cameras":[73],"which":[74],"are":[75,158],"strongly":[76],"related":[77],"as":[81],"input.":[82],"We":[83],"use":[84],"single-wheel":[85],"testbed":[86],"collect":[88],"and":[89,104,118,152,169],"process":[90],"data":[91,97],"form":[93],"dataset.":[95],"under":[100],"different":[101,105,165],"slip":[102],"ratios":[103],"terrains.":[106],"Then,":[107],"we":[108],"train":[109],"four":[110],"models":[113,130],"using":[114],"machine":[115],"learning":[116],"algorithms":[117],"analyze":[119],"their":[120],"performance.":[121],"From":[122],"results,":[124],"all":[125],"criteria":[127],"achieve":[131],"over":[132],"95%,":[133],"with":[134],"DT":[135],"being":[136],"optimal":[138],"method.":[139],"feasibility":[141],"our":[143],"case":[147],"fewer":[149],"training":[150,166],"samples":[151],"rationality":[154],"dataset":[156],"selection":[157],"also":[159],"verified":[160],"through":[161],"results":[163],"set":[167],"sizes":[168],"ablation":[171],"experiment.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}