Autor segons l'article: Singh, Aditya; Narula, Raghav; Rashwan, Hatem A.; Abdel-Nasser, Mohamed; Puig, Domenec; Nandi, G. C.;
Departament: Enginyeria Informàtica i Matemàtiques
Autor/s de la URV: Puig Valls, Domènec Savi / Singh, Aditya
Paraules clau: Visual odometry Slam Real-time Object detection Mapping Household robots Agglomerative clustering
Resum: Semantic mapping is still challenging for household collaborative robots. Deep learning models have proved their capability to extract semantics from the scene and learn robot odometry. For interfacing semantic information with robot odometry, existing approaches extract both semantics and robot odometry separately and then integrate them using fusion techniques. Such approaches face many issues while integration, and the mapping procedure requires a lot of memory and resources to process the information. In an attempt to produce accurate semantic mapping with resource-limited devices, this paper proposes an efficient deep learning-based model to simultaneously estimate robot odometry by using monocular sequence frames and detecting objects in the frames. The proposed model includes two main components: using a YOLOv3 object detector as a backbone and a convolutional long short-term (Conv-LSTM) recurrent neural network to model the changes in camera pose. The unique advantage of the proposed model is that it boycotts the need for data association and the requirement of multi-sensor fusion. We conducted the experiments on a LoCoBot robot in a laboratory environment, attaining satisfactory results with such limited computational resources. Additionally, we tested the proposed method on the Kitti dataset, reaching an average test loss of 15.93 on various sequences. The experiments are documented in this video https://www.youtube.com/watch?v=hnmqwxpaTEw.
Àrees temàtiques: Zootecnia / recursos pesqueiros Software Matemática / probabilidade e estatística Interdisciplinar Engenharias iv Engenharias iii Engenharias i Computer science, artificial intelligence Ciências biológicas ii Ciências biológicas i Ciências ambientais Ciências agrárias i Ciência da computação Biotecnología Artificial intelligence Administração pública e de empresas, ciências contábeis e turismo
Accès a la llicència d'ús: https://creativecommons.org/licenses/by/3.0/es/
Adreça de correu electrònic de l'autor: domenec.puig@urv.cat aditya.singh@urv.cat
Identificador de l'autor: 0000-0002-0562-4205 0000-0001-6281-9431
Data d'alta del registre: 2023-09-02
Versió de l'article dipositat: info:eu-repo/semantics/acceptedVersion
Enllaç font original: https://link.springer.com/article/10.1007/s00521-022-07273-7
URL Document de llicència: http://repositori.urv.cat/ca/proteccio-de-dades/
Referència a l'article segons font original: Neural Computing & Applications. 34 (18): 15617-15631
Referència de l'ítem segons les normes APA: Singh, Aditya; Narula, Raghav; Rashwan, Hatem A.; Abdel-Nasser, Mohamed; Puig, Domenec; Nandi, G. C.; (2022). Efficient deep learning-based semantic mapping approach using monocular vision for resource-limited mobile robots. Neural Computing & Applications, 34(18), 15617-15631. DOI: 10.1007/s00521-022-07273-7
DOI de l'article: 10.1007/s00521-022-07273-7
Entitat: Universitat Rovira i Virgili
Any de publicació de la revista: 2022
Tipus de publicació: Journal Publications
Repositori URV