Road area detection method based on DBNN for robot navigation using single camera in outdoor environments
| Autor: | K. M. Ibrahim Khalilullah, Shunsuke Ota, Toshiyuki Yasuda, Mitsuru Jindai |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Artificial neural network business.industry Computer science Deep learning Mobile robot 02 engineering and technology Industrial and Manufacturing Engineering Computer Science Applications 020901 industrial engineering & automation Wheelchair Discriminative model Control and Systems Engineering Obstacle Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence business |
| Zdroj: | Industrial Robot: An International Journal. 45:275-286 |
| ISSN: | 0143-991X |
| DOI: | 10.1108/ir-08-2017-0139 |
| Popis: | Purpose The purpose of this study is to develop a cost-effective autonomous wheelchair robot navigation method that assists the aging population. Design/methodology/approach Navigation in outdoor environments is still a challenging task for an autonomous mobile robot because of the highly unstructured and different characteristics of outdoor environments. This study examines a complete vision guided real-time approach for robot navigation in urban roads based on drivable road area detection by using deep learning. During navigation, the camera takes a snapshot of the road, and the captured image is then converted into an illuminant invariant image. Subsequently, a deep belief neural network considers this image as an input. It extracts additional discriminative abstract features by using general purpose learning procedure for detection. During obstacle avoidance, the robot measures the distance from the obstacle position by using estimated parameters of the calibrated camera, and it performs navigation by avoiding obstacles. Findings The developed method is implemented on a wheelchair robot, and it is verified by navigating the wheelchair robot on different types of urban curve roads. Navigation in real environments indicates that the wheelchair robot can move safely from one place to another. The navigation performance of the developed method and a comparison with laser range finder (LRF)-based methods were demonstrated through experiments. Originality/value This study develops a cost-effective navigation method by using a single camera. Additionally, it utilizes the advantages of deep learning techniques for robust classification of the drivable road area. It performs better in terms of navigation when compared to LRF-based methods in LRF-denied environments. |
| Databáze: | OpenAIRE |
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