Learning based semantic segmentation for robot navigation in outdoor environment

Janice Lin; Wen June Wang; Sheng Kai Huang; Hsiang Chieh Chen

doi:10.1109/IFSA-SCIS.2017.8023347

Learning based semantic segmentation for robot navigation in outdoor environment

Janice Lin, Wen June Wang, Sheng Kai Huang, Hsiang Chieh Chen

研究成果: 書貢獻/報告類型 › 會議論文篇章 › 同行評審

22 引文斯高帕斯（Scopus）

摘要

This work presents a vision-based navigation control strategy for a wheeled robot traveling outside. The main achievements contain road detection with deep learning and navigation control scheme of a robot. A deep convolutional neural network is first employed to perform pixel-wise segmentation and thus to find road regions. Next, a fuzzy controller is designed for commanding a robot's activities including movement and speed. Experimental results verify the essential capability of navigation by using a deep architecture of convolutional network. In brief, the proposed approach certainly reaches autonomous traveling with collision avoiding and wayfinding functionalities.

原文	???core.languages.en_GB???
主出版物標題	IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
發行者	Institute of Electrical and Electronics Engineers Inc.
ISBN（電子）	9781509049172
DOIs	https://doi.org/10.1109/IFSA-SCIS.2017.8023347
出版狀態	已出版 - 30 8月 2017
事件	17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017 - Otsu, Japan 持續時間: 27 6月 2017 → 30 6月 2017

出版系列

名字	IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017
國家/地區	Japan
城市	Otsu
期間	27/06/17 → 30/06/17

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10.1109/IFSA-SCIS.2017.8023347

視障人士的智慧夥伴(1/3)
Wang, W.-J. (PI)
1/11/16 → 31/10/17
研究計畫: Research

引用此

Lin, J., Wang, W. J., Huang, S. K., & Chen, H. C. (2017). Learning based semantic segmentation for robot navigation in outdoor environment. 於 IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems 文章 8023347 (IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IFSA-SCIS.2017.8023347

Lin, Janice ; Wang, Wen June ; Huang, Sheng Kai 等. / Learning based semantic segmentation for robot navigation in outdoor environment. IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017. (IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems).

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title = "Learning based semantic segmentation for robot navigation in outdoor environment",

abstract = "This work presents a vision-based navigation control strategy for a wheeled robot traveling outside. The main achievements contain road detection with deep learning and navigation control scheme of a robot. A deep convolutional neural network is first employed to perform pixel-wise segmentation and thus to find road regions. Next, a fuzzy controller is designed for commanding a robot's activities including movement and speed. Experimental results verify the essential capability of navigation by using a deep architecture of convolutional network. In brief, the proposed approach certainly reaches autonomous traveling with collision avoiding and wayfinding functionalities.",

keywords = "convolutional neural network, deep learning, fuzzy control, robot navigation",

author = "Janice Lin and Wang, {Wen June} and Huang, {Sheng Kai} and Chen, {Hsiang Chieh}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017 ; Conference date: 27-06-2017 Through 30-06-2017",

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Lin, J, Wang, WJ, Huang, SK & Chen, HC 2017, Learning based semantic segmentation for robot navigation in outdoor environment. 於 IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems., 8023347, IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, Institute of Electrical and Electronics Engineers Inc., 17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017, Otsu, Japan, 27/06/17. https://doi.org/10.1109/IFSA-SCIS.2017.8023347

Learning based semantic segmentation for robot navigation in outdoor environment. / Lin, Janice; Wang, Wen June; Huang, Sheng Kai 等.
IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017. 8023347 (IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems).

研究成果: 書貢獻/報告類型 › 會議論文篇章 › 同行評審

TY - GEN

T1 - Learning based semantic segmentation for robot navigation in outdoor environment

AU - Lin, Janice

AU - Wang, Wen June

AU - Huang, Sheng Kai

AU - Chen, Hsiang Chieh

PY - 2017/8/30

Y1 - 2017/8/30

N2 - This work presents a vision-based navigation control strategy for a wheeled robot traveling outside. The main achievements contain road detection with deep learning and navigation control scheme of a robot. A deep convolutional neural network is first employed to perform pixel-wise segmentation and thus to find road regions. Next, a fuzzy controller is designed for commanding a robot's activities including movement and speed. Experimental results verify the essential capability of navigation by using a deep architecture of convolutional network. In brief, the proposed approach certainly reaches autonomous traveling with collision avoiding and wayfinding functionalities.

AB - This work presents a vision-based navigation control strategy for a wheeled robot traveling outside. The main achievements contain road detection with deep learning and navigation control scheme of a robot. A deep convolutional neural network is first employed to perform pixel-wise segmentation and thus to find road regions. Next, a fuzzy controller is designed for commanding a robot's activities including movement and speed. Experimental results verify the essential capability of navigation by using a deep architecture of convolutional network. In brief, the proposed approach certainly reaches autonomous traveling with collision avoiding and wayfinding functionalities.

KW - convolutional neural network

KW - deep learning

KW - fuzzy control

KW - robot navigation

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U2 - 10.1109/IFSA-SCIS.2017.8023347

DO - 10.1109/IFSA-SCIS.2017.8023347

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T3 - IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems

BT - IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017

Y2 - 27 June 2017 through 30 June 2017

ER -

Lin J, Wang WJ, Huang SK, Chen HC. Learning based semantic segmentation for robot navigation in outdoor environment. 於 IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems. Institute of Electrical and Electronics Engineers Inc. 2017. 8023347. (IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems). doi: 10.1109/IFSA-SCIS.2017.8023347

Learning based semantic segmentation for robot navigation in outdoor environment

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視障人士的智慧夥伴(1/3)

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