Towards Learning Obstacles to Avoid Collisions in Autonomous Robot Navigation

Avoiding obstacles is one of the main tasks in robotic navigation. In this paper, robot navigation using monocular vision is presented. Therefore, an accuracy in the segmentation of obstacles is necessary to avoid collisions by estimating the Time-to-Contact. Our proposal in this research process is...

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Bibliographic Details
Main Authors: Sanchez-Garcia, Angel J., Rios-Figueroa, Homero V., Limon-Riano, Xavier, Sanchez-Garcia, Juan Andres, Cortes-Verdin, Karen
Format: Conference Proceeding
Language:English
Subjects:
Automotive engineering
Avoiding collisions
Mechatronics
robot navigation
Segmentation
YOLOv3
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Summary:Avoiding obstacles is one of the main tasks in robotic navigation. In this paper, robot navigation using monocular vision is presented. Therefore, an accuracy in the segmentation of obstacles is necessary to avoid collisions by estimating the Time-to-Contact. Our proposal in this research process is based on using YOLO so that through a training process, the robot identifies which regions of the image are potentially obstacles. The experimentation was performed in a real environment, with low daylight and without controlling lighting parameters. The first results of this approach are satisfactory although this project will continue with the learning of other obstacles.
ISSN:2573-3001
DOI:10.1109/ICMEAE.2019.00012