Thermal vision, moisture content, and vegetation in the context of off-road mobile robots
This paper describes an initial investigation that shows the major impact that moisture and vegetation produce on a soil and how that effect may be measured using a thermal camera. In particular, those two variables influence how the soil compacts and, hence, the traversability of a vehicle. A broad...
| Main Authors: | , , |
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| Format: | info:eu-repo/semantics/article |
| Language: | English |
| Published: |
2023
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| Online Access: | http://hdl.handle.net/10835/14686 https://doi.org/10.1016/j.jterra.2017.01.001 |
| _version_ | 1789406553401458688 |
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| author | Iagnemma, Karl González Sánchez, Ramón López Martínez, Alejandro |
| author_facet | Iagnemma, Karl González Sánchez, Ramón López Martínez, Alejandro |
| author_sort | Iagnemma, Karl |
| collection | DSpace |
| description | This paper describes an initial investigation that shows the major impact that moisture and vegetation produce on a soil and how that effect may be measured using a thermal camera. In particular, those two variables influence how the soil compacts and, hence, the traversability of a vehicle. A broad set of experiments, under different weather conditions and with different soils, demonstrate that thermal properties derived from the thermal camera (i.e. thermal inertia) increase when moisture content of sandy soils increases. In addition to that, a relation is observed between thermal inertia and traversability (lower thermal inertia, worse traction; and vice versa). Another key behavior is noticed for vegetated soils, where a similar thermal inertia to wet sand is obtained but with only a third of moisture content. These results may be considered for maximizing traversability over sandy soils with higher thermal inertias, what eventually means higher compaction and safer routes. To the authors’ knowledge, this is the first work addressing the correlation between moisture content and vegetation, and the thermal properties of a soil using a light-weight thermal camera that can be mounted on a mobile robot. |
| format | info:eu-repo/semantics/article |
| id | oai:repositorio.ual.es:10835-14686 |
| institution | Universidad de Cuenca |
| language | English |
| publishDate | 2023 |
| record_format | dspace |
| spelling | oai:repositorio.ual.es:10835-146862023-11-28T11:51:58Z Thermal vision, moisture content, and vegetation in the context of off-road mobile robots Iagnemma, Karl González Sánchez, Ramón López Martínez, Alejandro This paper describes an initial investigation that shows the major impact that moisture and vegetation produce on a soil and how that effect may be measured using a thermal camera. In particular, those two variables influence how the soil compacts and, hence, the traversability of a vehicle. A broad set of experiments, under different weather conditions and with different soils, demonstrate that thermal properties derived from the thermal camera (i.e. thermal inertia) increase when moisture content of sandy soils increases. In addition to that, a relation is observed between thermal inertia and traversability (lower thermal inertia, worse traction; and vice versa). Another key behavior is noticed for vegetated soils, where a similar thermal inertia to wet sand is obtained but with only a third of moisture content. These results may be considered for maximizing traversability over sandy soils with higher thermal inertias, what eventually means higher compaction and safer routes. To the authors’ knowledge, this is the first work addressing the correlation between moisture content and vegetation, and the thermal properties of a soil using a light-weight thermal camera that can be mounted on a mobile robot. 2023-11-28T11:51:57Z 2023-11-28T11:51:57Z 2017-01-30 info:eu-repo/semantics/article 1879-1204 0022-4898 http://hdl.handle.net/10835/14686 https://doi.org/10.1016/j.jterra.2017.01.001 en info:eu-repo/semantics/openAccess |
| spellingShingle | Iagnemma, Karl González Sánchez, Ramón López Martínez, Alejandro Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title | Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title_full | Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title_fullStr | Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title_full_unstemmed | Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title_short | Thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| title_sort | thermal vision, moisture content, and vegetation in the context of off-road mobile robots |
| url | http://hdl.handle.net/10835/14686 https://doi.org/10.1016/j.jterra.2017.01.001 |
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