Autonomous Robot Navigation Based on Multi-Camera Perception

被引：12

作者：

Zhu, Kunyan ^{[1
]}

Chen, Wei ^{[1
]}

Zhang, Wei ^{[1
]}

Song, Ran ^{[1
]}

Li, Yibin ^{[1
]}

机构：

[1] Shandong Univ, Sch Control Sci & Engn, Jinan, Peoples R China

来源：

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1109/IROS45743.2020.9341304

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose an autonomous method for robot navigation based on a multi-camera setup that takes advantage of a wide field of view. A new multi-task network is designed for handling the visual information supplied by the left, central and right cameras to find the passable area, detect the intersection and infer the steering. Based on the outputs of the network, three navigation indicators are generated and then combined with the high-level control commands extracted by the proposed MapNet, which are finally fed into the driving controller. The indicators are also used through the controller for adjusting the driving velocity, which assists the robot to adjust the speed for smoothly bypassing obstacles. Experiments in real-world environments demonstrate that our method performs well in both local obstacle avoidance and global goal-directed navigation tasks.

引用

页码：5879 / 5885

页数：7

共 36 条

[1]

Amini A, 2019, IEEE INT CONF ROBOT, P8958, DOI [10.1109/icra.2019.8793579, 10.1109/ICRA.2019.8793579]

[2]

[Anonymous], 2015, ACS SYM SER

[3]

[Anonymous], 2006, Advances in neural information processing systems

[4] Real-Time Monocular Depth Estimation using Synthetic Data with Domain Adaptation via Image Style Transfer [J].

Atapour-Abarghouei, Amir ;

Breckon, Toby P. .

2018 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), 2018, :2800-2810

[5] Scene Understanding Networks for Autonomous Driving based on Around View Monitoring System [J].

Baek, JeongYeol ;

Chelu, Ioana Veronica ;

Iordache, Livia ;

Paunescu, Vlad ;

Ryu, HyunJoo ;

Ghiuta, Alexandru ;

Petreanu, Andrei ;

Soh, YunSung ;

Leica, Andrei ;

Jeon, ByeongMoon .

PROCEEDINGS 2018 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION WORKSHOPS (CVPRW), 2018, :1074-1081

[6]

Bojarski Mariusz, 2016, arXiv

[7]

Burgard W., 2005, PROBABILISTIC ROBOTI, DOI DOI 10.1145/504729.504754

[8] Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age [J].

Cadena, Cesar ;

Carlone, Luca ;

Carrillo, Henry ;

Latif, Yasir ;

Scaramuzza, Davide ;

Neira, Jose ;

Reid, Ian ;

Leonard, John J. .

IEEE TRANSACTIONS ON ROBOTICS, 2016, 32 (06) :1309-1332

[9]

Caltagirone L., 2017, arXiv:1703.08987

[10] DeepDriving: Learning Affordance for Direct Perception in Autonomous Driving [J].

Chen, Chenyi ;

Seff, Ari ;

Kornhauser, Alain ;

Xiao, Jianxiong .

2015 IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV), 2015, :2722-2730

← 1 2 3 4 →