Abstract
Recognition of obstacle type based on visual sensors is important for navigation by unmanned surface vehicles (USV), including path planning, obstacle avoidance, and reactive control. Conventional detection techniques may fail to distinguish obstacles that are similar in visual appearance in a cluttered environment. This work proposes a novel obstacle type recognition approach that combines a dilated operator with the deep-level features map of ResNet50 for autonomous navigation. First, visual images are collected and annotated from various different scenarios for USV test navigation. Second, the deep learning model, based on a dilated convolutional neural network, is set and trained. Dilated convolution allows the whole network to learn deep features with increased receptive field and further improves the performance of obstacle type recognition. Third, a series of evaluation parameters are utilised to evaluate the obtained model, such as the mean average precision (mAP), missing rate and detection speed. Finally, some experiments are designed to verify the accuracy of the proposed approach using visual images in a cluttered environment. Experimental results demonstrate that the dilated convolutional neural network obtains better recognition performance than the other methods, with an mAP of 88%.
Prediction of Bottleneck Points for Manipulation Planning in Cluttered Environment using a 3D Convolutional Neural Network
