TY - JOUR
T1 - Indoor Localization and Navigation based on Deep Learning using a Monocular Visual System
AU - Ancona, Rodrigo Eduardo Arevalo
AU - Ramírez, Leonel Germán Corona
AU - Frías, Oscar Octavio Gutiérrez
N1 - Publisher Copyright:
© 2021
PY - 2021
Y1 - 2021
N2 - Now-a-days, computer systems are important for artificial vision systems to analyze the acquired data to realize crucial tasks, such as localization and navigation. For successful navigation, the robot must interpret the acquired data and determine its position to decide how to move through the environment. This paper proposes an indoor mobile robot visual-localization and navigation approach for autonomous navigation. A convolutional neural network and background modeling are used to locate the system in the environment. Object detection is based on copy-move detection, an image forensic technique, extracting features from the image to identify similar regions. An adaptive threshold is proposed due to the illumination changes. The detected object is classified to evade it using a control deep neural network. A U-Net model is implemented to track the path trajectory. The experiment results were obtained from real data, proving the efficiency of the proposed algorithm. The adaptive threshold solves illumination variation issues for object detection.
AB - Now-a-days, computer systems are important for artificial vision systems to analyze the acquired data to realize crucial tasks, such as localization and navigation. For successful navigation, the robot must interpret the acquired data and determine its position to decide how to move through the environment. This paper proposes an indoor mobile robot visual-localization and navigation approach for autonomous navigation. A convolutional neural network and background modeling are used to locate the system in the environment. Object detection is based on copy-move detection, an image forensic technique, extracting features from the image to identify similar regions. An adaptive threshold is proposed due to the illumination changes. The detected object is classified to evade it using a control deep neural network. A U-Net model is implemented to track the path trajectory. The experiment results were obtained from real data, proving the efficiency of the proposed algorithm. The adaptive threshold solves illumination variation issues for object detection.
KW - Visual localization
KW - autonomous navigation
KW - feature extractor
KW - object detection
KW - visual navigation
UR - http://www.scopus.com/inward/record.url?scp=85109195321&partnerID=8YFLogxK
U2 - 10.14569/IJACSA.2021.0120611
DO - 10.14569/IJACSA.2021.0120611
M3 - Artículo
AN - SCOPUS:85109195321
SN - 2158-107X
VL - 12
SP - 79
EP - 86
JO - International Journal of Advanced Computer Science and Applications
JF - International Journal of Advanced Computer Science and Applications
IS - 6
ER -