Terrain Classification Algorithm for Lunar Rover Using a Deep Ensemble Network with High-Resolution Features and Interdependencies between Channels

Table 4

A detailed description of the Combine Net.

Input	Layer 1	Layer 2	Result
ResNet-50	Fully connected 512 neurons	Fully connected 4 neurons	Current terrain prediction results
ResNet-50 with channel block
ResNet-50 with high-resolution block