Utilization of Convolution Neural Network Based Road Detection in Mobile Robot Localization

0508666 - ÚT 2020 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Krejsa, Jiří - Věchet, Stanislav
Utilization of Convolution Neural Network Based Road Detection in Mobile Robot Localization.
Engineering mechanics 2019. Book of full texts. Prague: Institute of Thermomechanics of the Czech Academy of Sciences, 2019 - (Zolotarev, I.; Radolf, V.), s. 203-206. ISBN 978-80-87012-71-0. ISSN 1805-8248.
[Engineering mechanics 2019 /25./. Svratka (CZ), 13.05.2019-16.05.2019]
Institucionální podpora: RVO:61388998
Klíčová slova: convolution neural network * localization * road detection
Obor OECD: Robotics and automatic control

Mobile robot on-road navigation requires fusion of both global and local sensory information with an emphasis on the road detection processing. The paper deals with the road detection based on convolution neural networks (CNN) using commonly available tools such as TensorFlow and Keras. The road is defined by its linear boundaries. Network output is formed by the road definition together with classification parameters and serves as a local sensor in Kalman filter based localization. CNN based road detection is currently capable to successfully detect about 90% of images.
Trvalý link: http://hdl.handle.net/11104/0304917