{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,28]],"date-time":"2025-03-28T00:19:36Z","timestamp":1743121176699,"version":"3.40.3"},"publisher-location":"Cham","reference-count":32,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030661502"},{"type":"electronic","value":"9783030661519"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"DOI":"10.1007\/978-3-030-66151-9_10","type":"book-chapter","created":{"date-parts":[[2020,12,21]],"date-time":"2020-12-21T00:02:47Z","timestamp":1608508967000},"page":"154-168","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Importance Sampling Forests for Location Invariant Proprioceptive Terrain Classification"],"prefix":"10.1007","author":[{"given":"Ditebogo","family":"Masha","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Burke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,12,21]]},"reference":[{"issue":"2","key":"10_CR1","doi-asserted-by":"publisher","first-page":"105","DOI":"10.9733\/jgg.241212.1","volume":"1","author":"\u00d6 Akar","year":"2012","unstructured":"Akar, \u00d6., G\u00fcng\u00f6r, O.: Classification of multispectral images using random forest algorithm. J. Geodesy Geoinf. 1(2), 105\u2013112 (2012)","journal-title":"J. Geodesy Geoinf."},{"key":"10_CR2","series-title":"Information Science and Statistics","volume-title":"Pattern Recognition and Machine Learning","author":"CM Bishop","year":"2006","unstructured":"Bishop, C.M.: Pattern Recognition and Machine Learning. Information Science and Statistics. Springer, New York (2006)"},{"issue":"1","key":"10_CR3","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1023\/A:1010933404324","volume":"45","author":"L Breiman","year":"2001","unstructured":"Breiman, L.: Random forests. Mach. Learn. 45(1), 5\u201332 (2001)","journal-title":"Mach. Learn."},{"issue":"6","key":"10_CR4","doi-asserted-by":"publisher","first-page":"1185","DOI":"10.1109\/TRO.2005.855994","volume":"21","author":"CA Brooks","year":"2005","unstructured":"Brooks, C.A., Iagnemma, K.: Vibration-based terrain classification for planetary exploration rovers. IEEE Trans. Rob. 21(6), 1185\u20131190 (2005). https:\/\/doi.org\/10.1109\/TRO.2005.855994","journal-title":"IEEE Trans. Rob."},{"issue":"3","key":"10_CR5","doi-asserted-by":"publisher","first-page":"445","DOI":"10.1002\/rob.21408","volume":"29","author":"CA Brooks","year":"2012","unstructured":"Brooks, C.A., Iagnemma, K.: Self-supervised terrain classification for planetary surface exploration rovers. J. Field Robot. 29(3), 445\u2013468 (2012)","journal-title":"J. Field Robot."},{"key":"10_CR6","doi-asserted-by":"publisher","unstructured":"Brooks, C.A., Iagnemma, K.D.: Self-supervised classification for planetary rover terrain sensing. In: IEEE Aerospace Conference Proceedings, pp. 1\u20139 (2007). https:\/\/doi.org\/10.1109\/AERO.2007.352693","DOI":"10.1109\/AERO.2007.352693"},{"key":"10_CR7","doi-asserted-by":"publisher","unstructured":"Burke, M.: Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 97\u2013102 (2012). https:\/\/doi.org\/10.1109\/ICRA.2012.6224684","DOI":"10.1109\/ICRA.2012.6224684"},{"key":"10_CR8","doi-asserted-by":"publisher","unstructured":"Collins, E.G., Coyle, E.J.: Vibration-based terrain classification using surface profile input frequency responses. In: 2008 IEEE International Conference on Robotics and Automation, pp. 3276\u20133283 (2008). https:\/\/doi.org\/10.1109\/ROBOT.2008.4543710","DOI":"10.1109\/ROBOT.2008.4543710"},{"key":"10_CR9","unstructured":"Coyle, E.: Fundamentals and methods of terrain classification using proprioceptive sensors. Ph.D. thesis, The Florida State University (2010)"},{"key":"10_CR10","doi-asserted-by":"crossref","unstructured":"Coyle, E., Collins, E.G., Roberts, R.G.: Speed independent terrain classification using singular value decomposition interpolation. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 4014\u20134019. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5979766"},{"key":"10_CR11","doi-asserted-by":"crossref","unstructured":"Ding, L., Gao, H., Deng, Z., Yoshida, K., Nagatani, K.: Slip ratio for lugged wheel of planetary rover in deformable soil: definition and estimation. In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 3343\u20133348. IEEE (2009)","DOI":"10.1109\/IROS.2009.5354565"},{"issue":"4","key":"10_CR12","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1007\/s10514-007-9077-0","volume":"24","author":"EM DuPont","year":"2008","unstructured":"DuPont, E.M., Moore, C.A., Collins, E.G., Coyle, E.: Frequency response method for terrain classification in autonomous ground vehicles. Auton. Robot. 24(4), 337\u2013347 (2008). https:\/\/doi.org\/10.1007\/s10514-007-9077-0","journal-title":"Auton. Robot."},{"key":"10_CR13","doi-asserted-by":"publisher","first-page":"1643","DOI":"10.1115\/IMECE2005-81659","volume":"2005","author":"EM DuPont","year":"2005","unstructured":"DuPont, E.M., Roberts, R.G., Selekwa, M.F., Moore, C.A., Collins, E.G.: Online terrain classification for mobile robots. Dyn. Syst. Control Parts A and B. 2005, 1643\u20131648 (2005). https:\/\/doi.org\/10.1115\/IMECE2005-81659","journal-title":"Dyn. Syst. Control Parts A and B."},{"key":"10_CR14","doi-asserted-by":"publisher","unstructured":"Giguere, P., Dudek, G.: Surface identification using simple contact dynamics for mobile robots. In: 2009 IEEE International Conference on Robotics and Automation (2009). https:\/\/doi.org\/10.1109\/ROBOT.2009.5152662","DOI":"10.1109\/ROBOT.2009.5152662"},{"issue":"4","key":"10_CR15","doi-asserted-by":"publisher","first-page":"294","DOI":"10.1016\/j.patrec.2005.08.011","volume":"27","author":"PO Gislason","year":"2006","unstructured":"Gislason, P.O., Benediktsson, J.A., Sveinsson, J.R.: Random forests for land cover classification. Pattern Recogn. Lett. 27(4), 294\u2013300 (2006)","journal-title":"Pattern Recogn. Lett."},{"key":"10_CR16","unstructured":"Gonzalez, R., Iagnemma, K.: DeepTerramechanics: Terrain Classification and Slip Estimation for Ground Robots via Deep Learning. arXiv preprint arXiv:1806.07379 (2018)"},{"issue":"11\u201312","key":"10_CR17","doi-asserted-by":"publisher","first-page":"1005","DOI":"10.1002\/rob.20168","volume":"23","author":"A Howard","year":"2006","unstructured":"Howard, A., Turmon, M., Matthies, L., Tang, B., Angelova, A., Mjolsness, E.: Towards learned traversability for robot navigation: from underfoot to the far field. J. Field Robot. 23(11\u201312), 1005\u20131017 (2006). https:\/\/doi.org\/10.1002\/rob.20168","journal-title":"J. Field Robot."},{"key":"10_CR18","doi-asserted-by":"publisher","unstructured":"Iagnemma, K., Shibly, H., Dubowsky, S.: On-line terrain parameter estimation for planetary rovers. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 3142\u20133147 (2002). https:\/\/doi.org\/10.1109\/ROBOT.2002.1013710","DOI":"10.1109\/ROBOT.2002.1013710"},{"key":"10_CR19","doi-asserted-by":"publisher","first-page":"1+","DOI":"10.1155\/2014\/829097","volume":"2014","author":"S Kuntanapreeda","year":"2014","unstructured":"Kuntanapreeda, S.: Traction control of electric vehicles using sliding-mode controller with tractive force observer. Int. J. Veh. Technol 2014, 1+ (2014). https:\/\/doi.org\/10.1155\/2014\/829097","journal-title":"Int. J. Veh. Technol"},{"key":"10_CR20","doi-asserted-by":"crossref","unstructured":"Masha, D., Burke, M., Twala, B.: Slip estimation methods for proprioceptive terrain classification using tracked mobile robots. In: 2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech), pp. 150\u2013155. IEEE (2017)","DOI":"10.1109\/RoboMech.2017.8261139"},{"issue":"2","key":"10_CR21","doi-asserted-by":"publisher","first-page":"443","DOI":"10.2136\/sssaj1993.03615995005700020026x","volume":"57","author":"ID Moore","year":"1993","unstructured":"Moore, I.D., Gessler, P.E., Nielsen, G.\u00c6., Peterson, G.: Soil attribute prediction using terrain analysis. Soil Sci. Soc. Am. J. 57(2), 443\u2013452 (1993)","journal-title":"Soil Sci. Soc. Am. J."},{"key":"10_CR22","doi-asserted-by":"publisher","unstructured":"Ojeda, L., Borenstein, J., Witus, G.: Terrain trafficability characterization with a mobile robot. In: Proceedings of the SPIE Defense and Security Conference, Unmanned Ground Vehicle Technology VII, vol. 5804, pp. 235\u2013243 (2005). https:\/\/doi.org\/10.1117\/12.601499","DOI":"10.1117\/12.601499"},{"issue":"2","key":"10_CR23","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1002\/rob.20113","volume":"23","author":"L Ojeda","year":"2006","unstructured":"Ojeda, L., Borenstein, J., Witus, G., Karlsen, R.: Terrain characterization and classification with a mobile robot. J. Field Robot. 23(2), 103\u2013122 (2006). https:\/\/doi.org\/10.1002\/rob.20113","journal-title":"J. Field Robot."},{"issue":"2","key":"10_CR24","doi-asserted-by":"publisher","first-page":"814","DOI":"10.1109\/LRA.2016.2525040","volume":"1","author":"K Otsu","year":"2016","unstructured":"Otsu, K., Ono, M., Fuchs, T.J., Baldwin, I., Kubota, T.: Autonomous terrain classification with co-and self-training approach. IEEE Robot. Autom. Lett. 1(2), 814\u2013819 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10_CR25","doi-asserted-by":"publisher","unstructured":"Overholt, J.L., Hudas, G.R., Gerhart, G.R.: Defining proprioceptive behaviors for autonomous mobile robots. In: Unmanned Ground Vehicle Technology IV, vol. 4715, pp. 287\u2013295. International Society for Optics and Photonics (2002). https:\/\/doi.org\/10.1117\/12.474460","DOI":"10.1117\/12.474460"},{"key":"10_CR26","doi-asserted-by":"publisher","unstructured":"Tick, D., Rahman, T., Busso, C., Gans, N.: Indoor robotic terrain classification via angular velocity based hierarchical classifier selection. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3594\u20133600 (2012). https:\/\/doi.org\/10.1109\/ICRA.2012.6225128","DOI":"10.1109\/ICRA.2012.6225128"},{"issue":"1","key":"10_CR27","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1002\/wics.56","volume":"2","author":"ST Tokdar","year":"2010","unstructured":"Tokdar, S.T., Kass, R.E.: Importance sampling: a review. Wiley Interdisc. Rev. Comput. Stat. 2(1), 54\u201360 (2010). https:\/\/doi.org\/10.1002\/wics.56","journal-title":"Wiley Interdisc. Rev. Comput. Stat."},{"issue":"13\u201314","key":"10_CR28","doi-asserted-by":"publisher","first-page":"1521","DOI":"10.1177\/0278364917727062","volume":"36","author":"A Valada","year":"2017","unstructured":"Valada, A., Burgard, W.: Deep spatiotemporal models for robust proprioceptive terrain classification. Int. J. Robot. Res. 36(13\u201314), 1521\u20131539 (2017). https:\/\/doi.org\/10.1177\/0278364917727062","journal-title":"Int. J. Robot. Res."},{"key":"10_CR29","doi-asserted-by":"publisher","unstructured":"Weiss, C., Frohlich, H., Zell, A.: Vibration-based terrain classification using support vector machines. In: 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4429\u20134434 (2006). https:\/\/doi.org\/10.1109\/IROS.2006.282076","DOI":"10.1109\/IROS.2006.282076"},{"issue":"8","key":"10_CR30","doi-asserted-by":"publisher","first-page":"1067","DOI":"10.1016\/j.ins.2005.02.006","volume":"176","author":"TA Yanar","year":"2006","unstructured":"Yanar, T.A., Aky\u00fcrek, Z.: The enhancement of the cell-based GIS analyses with fuzzy processing capabilities. Inf. Sci. 176(8), 1067\u20131085 (2006). https:\/\/doi.org\/10.1016\/j.ins.2005.02.006","journal-title":"Inf. Sci."},{"key":"10_CR31","unstructured":"Yoshida, K., Watanabe, T., Mizuno, N., Ishigami, G.: Slip, traction control, and navigation of a lunar rover. In: i-SAIRAS 2003, p. 8579 (2003)"},{"key":"10_CR32","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.patrec.2013.11.004","volume":"38","author":"Y Zou","year":"2014","unstructured":"Zou, Y., Chen, W., Xie, L., Wu, X.: Comparison of different approaches to visual terrain classification for outdoor mobile robots. Pattern Recogn. Lett. 38, 54\u201362 (2014)","journal-title":"Pattern Recogn. Lett."}],"container-title":["Communications in Computer and Information Science","Artificial Intelligence Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-66151-9_10","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,24]],"date-time":"2021-04-24T11:47:39Z","timestamp":1619264859000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-66151-9_10"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030661502","9783030661519"],"references-count":32,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-66151-9_10","relation":{},"ISSN":["1865-0929","1865-0937"],"issn-type":[{"type":"print","value":"1865-0929"},{"type":"electronic","value":"1865-0937"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"21 December 2020","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"SACAIR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Southern African Conference for Artificial Intelligence Research","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Muldersdrift","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"South Africa","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2021","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 February 2021","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"26 February 2021","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"1","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"sacair2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/sacair.org.za\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Double-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"EasyChair","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"53","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"19","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"36% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"No","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Dur to the COVID-19 pandemic SACAIR 2020 was postponed to February 2021","order":10,"name":"additional_info_on_review_process","label":"Additional Info on Review Process","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}