Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification

Figure 6

Terrain classification results based on kinematic model used/not used under terrain transition. (a) The 193rd picture (model not used). (b) The 193rd picture (use model). (c)The 197th picture (model not used). (d) The 197th picture (use model). (e) The 201st picture (model not used). (f) The 201st picture (use model).

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