Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments-Reference-Cited by-同舟云学术

Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments

Published:2023-12-20 Issue:6 Volume:35 Page:1419-1434
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Adachi Miho¹^ORCID,Honda Kazufumi¹,Xue Junfeng¹,Sudo Hiroaki¹,Ueda Yuriko¹,Yuda Yuki¹,Wada Marin¹,Miyamoto Ryusuke²^ORCID

Affiliation:

1. Department of Computer Science, Graduate School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan

2. Department of Computer Science, School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan

Abstract

This study focuses on visual navigation methods for autonomous mobile robots based on semantic segmentation results. The challenge is to perform the expected actions without being affected by the presence of pedestrians. Therefore, we implemented a semantics-based localization method that is not affected by dynamic obstacles and a direction change method at intersections that functions even with coarse-grain localization results. The proposed method was evaluated through driving experiments in the Tsukuba Challenge 2022, where a 290 m run including 10 intersections was achieved in the confirmation run section.

Funder

Japan Society for the Promotion of Science

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference41 articles.

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