With the ubiquitous use of mobile imaging devices, the collection of perishable disaster-scene data has become unprecedentedly easy. However, computing methods are unable to understand these images with significant complexity and uncertainties. In this paper, the authors investigate the problem of disaster-scene understanding through a deep-learning approach. Two attributes of images are concerned, including hazard types and damage levels. Three deep-learning models are trained, and their performance is assessed. Specifically, the best model for hazard-type prediction has an overall accuracy (OA) of 90.1%, and the best damage-level classification model has an explainable OA of 62.6%, upon which both models adopt the Faster R-CNN architecture with a ResNet50 network as a feature extractor. It is concluded that hazard types are more identifiable than damage levels in disaster-scene images. Insights are revealed, including that damage-level recognition suffers more from inter- and intra-class variations, and the treatment of hazard-agnostic damage leveling further contributes to the underlying uncertainties.
A Deep Learning Approach for the Mobile-Robot Motion Control System
