IDEAS home Printed from https://ideas.repec.org/a/hin/complx/1627185.html
   My bibliography  Save this article

Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots

Author

Listed:
  • Li Wang
  • Lijun Zhao
  • Guanglei Huo
  • Ruifeng Li
  • Zhenghua Hou
  • Pan Luo
  • Zhenye Sun
  • Ke Wang
  • Chenguang Yang

Abstract

In order to improve the environmental perception ability of mobile robots during semantic navigation, a three-layer perception framework based on transfer learning is proposed, including a place recognition model, a rotation region recognition model, and a “side” recognition model. The first model is used to recognize different regions in rooms and corridors, the second one is used to determine where the robot should be rotated, and the third one is used to decide the walking side of corridors or aisles in the room. Furthermore, the “side” recognition model can also correct the motion of robots in real time, according to which accurate arrival to the specific target is guaranteed. Moreover, semantic navigation is accomplished using only one sensor (a camera). Several experiments are conducted in a real indoor environment, demonstrating the effectiveness and robustness of the proposed perception framework.

Suggested Citation

  • Li Wang & Lijun Zhao & Guanglei Huo & Ruifeng Li & Zhenghua Hou & Pan Luo & Zhenye Sun & Ke Wang & Chenguang Yang, 2018. "Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots," Complexity, Hindawi, vol. 2018, pages 1-12, April.
  • Handle: RePEc:hin:complx:1627185
    DOI: 10.1155/2018/1627185
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2018/1627185.pdf
    Download Restriction: no

    File URL: http://downloads.hindawi.com/journals/8503/2018/1627185.xml
    Download Restriction: no

    File URL: https://libkey.io/10.1155/2018/1627185?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    References listed on IDEAS

    as
    1. Yiming Jiang & Chenguang Yang & Jing Na & Guang Li & Yanan Li & Junpei Zhong, 2017. "A Brief Review of Neural Networks Based Learning and Control and Their Applications for Robots," Complexity, Hindawi, vol. 2017, pages 1-14, October.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Anh Tuan Vo & Thanh Nguyen Truong & Hee-Jun Kang, 2023. "Fixed-Time RBFNN-Based Prescribed Performance Control for Robot Manipulators: Achieving Global Convergence and Control Performance Improvement," Mathematics, MDPI, vol. 11(10), pages 1-25, May.
    2. Saiteja, Pemmareddy & Ashok, B., 2022. "Critical review on structural architecture, energy control strategies and development process towards optimal energy management in hybrid vehicles," Renewable and Sustainable Energy Reviews, Elsevier, vol. 157(C).
    3. Yunjian Peng & Birong Zhao & Weijie Sun & Feiqi Deng, 2018. "Exponential Stabilization of Coupled Hybrid Stochastic Delayed BAM Neural Networks: A Periodically Intermittent Control Method," Complexity, Hindawi, vol. 2018, pages 1-14, December.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:1627185. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.