Original title: Utilization of Convolution Neural Network Based Road Detection in Mobile Robot Localization
Authors: Krejsa, Jiří ; Věchet, Stanislav
Document type: Papers
Conference/Event: Engineering mechanics 2019 /25./, Svratka (CZ), 20190513
Year: 2019
Language: eng
Abstract: 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.
Keywords: convolution neural network; localization; road detection
Host item entry: Engineering mechanics 2019. Book of full texts, ISBN 978-80-87012-71-0, ISSN 1805-8248

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0304917

Permalink: http://www.nusl.cz/ntk/nusl-409312


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers