1. A method of controlling a vehicle over terrain, the method comprising: training at least one first classifier technique using a first set of terrain classifier training data and a plurality of Gaussian Process techniques, the training data including two or more different types of data collected by two or more different types of sensors that measure an internal state of the vehicle such that the at least one first classifier technique is trained to output probability values associated with each of a plurality of different types of terrain classifications; using the probability values associated with each of the plurality of different types of terrain classifications to generate a second set of terrain classifier training data; and training a second classifier technique using the probability values associated with each of the plurality of different types of terrain classifications of the at least one first classifier technique for the second set of terrain classifier training data, and additional data including an image-based representation of the terrain of the second data set, such that the second classifier technique is trained to output a probability value useable to classify terrain.