Naslov
Deep Semantic Image Segmentation for UAV-UGV Cooperative Path Planning: A Car Park Use Case

Autori
Kundid Vasić, Mirela ; Drak, Ahmad ; Bugarin, Nediljko ; Kružić, Stanko ; Musić, Josip ; Pomrehn, Christoph ; Schöbel, Maximilian ; Johenneken, Maximilian ; Stančić, Ivo ; Papić, Vladan ; Herpers, Rainer

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
The 28th International Conference on Software, Telecommunications and Computer Networks (SoftCOM 2020) / - Split, 2020

Skup
28th International Conference on Software, Telecommunications and Computer Networks (SoftCOM 2020)

Mjesto i datum
Hvar, Hrvatska; online, 17.09.2020. - 19.09.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
cooperative path planning, semantic image segmentation, neural networks, unmanned ground vehicle, unmanned aerial vehicle

Sažetak
Navigation of Unmanned Ground Vehicles (UGV) in unknown environments is an active area of research for mobile robotics. A main hindering factor for UGV navigation is the limited range of the on-board sensors that process only restricted areas of the environment at a time. In addition, most existing approaches process sensor information under the assumption of a static environment. This restrains the exploration capability of the UGV especially in time-critical applications such as search and rescue. The cooperation with an Unmanned Aerial Vehicle (UAV) can provide the UGV with an extended perspective of the environment which enables a better-suited path planning solution that can be adjusted on demand. In this work, we propose a UAV-UGV cooperative path planning approach for dynamic environments by performing semantic segmentation on images acquired from the UAV's view via a deep neural network. The approach is evaluated in a car park scenario, with the goal of providing a path plan to an empty parking space for a ground- based vehicle. The experiments were performed on a created dataset of real-world car park images located in Croatia and Germany, in addition to images from a simulated environment. The segmentation results demonstrate the viability of the proposed approach in producing maps of the dynamic environment on demand and accordingly generating path plans for ground-based vehicles.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA