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Navigation is a broad topic that has been receiving considerable attention from the mobile robotic community. In order to execute a safe navigation on outdoors it is necessary to identify parts of the terrain that can be traversed by the robot and parts that should be avoided. This paper describes an analyses of an image-based terrain identification based on different visual information using a multi-layer perceptron neural network. Experimental tests using an outdoor robot and a video camera have been conducted in real scenarios to evaluate the proposed methods.

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