TY - GEN
T1 - Development of robot navigation method based on single camera vision using deep learning
AU - Khalilullah, K. M.Ibrahim
AU - Ota, Shunsuke
AU - Yasuda, Toshiyuki
AU - Jindai, Mitsuru
N1 - Publisher Copyright:
© 2017 The Society of Instrument and Control Engineers - SICE.
PY - 2017/11/10
Y1 - 2017/11/10
N2 - This paper presents a complete vision guided real-time approach to robot navigation in urban narrow roads based on drivable road area detection using deep learning. In this approach, an illuminant-invariant road database is created from captured images. This database is used to train the Deep Belief Neural Network (DBNN) for road detection. During navigation, a camera takes a snapshot of the road and then the captured image is converted into an illuminant-invariant image. After that, DBNN takes this image as an input. It extracts the road features layer-by-layer for detection. The experimental wheelchair robot follows detected road boundary for navigation. The performance of the developed algorithm is demonstrated by the experiments. In addition, we encompass the large areas of autonomous robot navigation in a single camera.
AB - This paper presents a complete vision guided real-time approach to robot navigation in urban narrow roads based on drivable road area detection using deep learning. In this approach, an illuminant-invariant road database is created from captured images. This database is used to train the Deep Belief Neural Network (DBNN) for road detection. During navigation, a camera takes a snapshot of the road and then the captured image is converted into an illuminant-invariant image. After that, DBNN takes this image as an input. It extracts the road features layer-by-layer for detection. The experimental wheelchair robot follows detected road boundary for navigation. The performance of the developed algorithm is demonstrated by the experiments. In addition, we encompass the large areas of autonomous robot navigation in a single camera.
KW - Deep Belief Neural Network
KW - discriminant features
KW - illuminant-invariant
KW - image mask
KW - image patch
UR - http://www.scopus.com/inward/record.url?scp=85044172420&partnerID=8YFLogxK
U2 - 10.23919/SICE.2017.8105675
DO - 10.23919/SICE.2017.8105675
M3 - 会議への寄与
AN - SCOPUS:85044172420
T3 - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
SP - 939
EP - 942
BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Y2 - 19 September 2017 through 22 September 2017
ER -