End-to-End Deep Learning Applied in Autonomous Navigation using Multi-Cameras System with RGB and Depth Images
| Autor: | Denis F. Wolf, Iago Pacheco Gomes, Jean Amaro, Fernando Santos Osório, José Alberto Diaz Amado |
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| Rok vydání: | 2019 |
| Předmět: |
Computer science
Autonomous Navigation System Machine vision business.industry Deep learning 010401 analytical chemistry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Process (computing) Automotive industry 02 engineering and technology 01 natural sciences 0104 chemical sciences End-to-end principle 0202 electrical engineering electronic engineering information engineering RGB color model 020201 artificial intelligence & image processing Computer vision Artificial intelligence Scale (map) business |
| Zdroj: | 2019 IEEE Intelligent Vehicles Symposium (IV). |
| DOI: | 10.1109/ivs.2019.8813897 |
| Popis: | The present work demonstrates how an autonomous navigation system of ‘End-to-End’ deep learning principles is directly improved in its response process, depending on the information obtained by different input images configurations. For this, a methodology was developed to allow working with RGB and depth images, which were obtained through a Microsoft Kinect V2 sensor device. Three cameras were used for this experiment. The images of the different cameras were concatenated or grouped, generating new and different input configurations from the vision system. To develop the presented methodology, two support and validation systems were implemented. Through the process of computer simulation, it was able to test the first approaches and define the most important ones. In order to validate the proposed methodology and solutions in real world situations, a 1/4 scale automotive vehicle was prototyped. Finally, the experiments shows the importance of the use of multi-cameras systems for a better performance of autonomous navigation systems based on End-to-End learning approach, heaving an average error of 2.41 degrees in the best configuration tested, with three RGB cameras. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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