Mobile Robot Navigation Using an Object Recognition Software with RGBD Images and the YOLO Algorithm

被引：47

作者：

Dos Reis, Douglas Henke ^{[1
]}

Welfer, Daniel ^{[2
]}

De Souza Leite Cuadros, Marco Antonio ^{[3
]}

Tello Gamarra, Daniel Fernando ^{[1
]}

机构：

[1] Fed Univ Santa Maria Santa Maria UFSM, Control & Automat Engn Course, Santa Maria, RS, Brazil

[2] Univ Fed Santa Maria, Santa Maria UFSM, Dept Appl Comp, Santa Maria, RS, Brazil

[3] IFES, Profess Master Program Control & Automat Engn, Vitoria, ES, Brazil

来源：

APPLIED ARTIFICIAL INTELLIGENCE | 2019年 / 33卷 / 14期

关键词：

731.5; Robotics; -; 921; Mathematics;

D O I：

10.1080/08839514.2019.1684778

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This work presents a vision system based on the YOLO algorithm to identify static objects that could be obstacles in the path of a mobile robot. In order to identify the objects and its distances, a Microsoft Kinect sensor was used. In addition, a Nvidia Jetson TX2 GPU was used to increase the image processing algorithm performance. Our experimental results indicate that the YOLO network has detected all the predefined obstacles for which it has been trained with good reliability and the calculus of the distance using the depth information returned by the Microsoft Kinect camera had an error below of 3,64%.

引用

页码：1290 / 1305

页数：16