Terrain Adaptive Estimation of Instantaneous Centres of Rotation for Tracked Robots

Table 1

Confusion matrix of 10-fold cross-validation with all terrains.

	Soil	Grass	Asphalt	Paving
Soil	71	18	3	8
Grass	13	75	7	5
Asphalt	8	1	89	2
Paving	11	2	4	83