基于语义分割的视觉导航在以人为本的环境中的实际应用

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1419

Miho Adachi, Kazufumi Honda, Junfeng Xue, Hiroaki Sudo, Yuriko Ueda, Yuki Yuda, Marin Wada, Ryusuke Miyamoto

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引用次数: 0

摘要

本研究的重点是基于语义分割结果的自主移动机器人视觉导航方法。面临的挑战是如何在不受行人影响的情况下执行预期操作。因此，我们采用了一种不受动态障碍物影响的基于语义的定位方法，以及一种在交叉路口改变方向的方法，即使在粗粒度定位结果的情况下也能发挥作用。我们在 2022 年筑波挑战赛中通过驾驶实验对所提出的方法进行了评估，在确认运行部分实现了包括 10 个交叉路口在内的 290 米运行。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.