An active vision approach to the road following problem

Elio Tuci, Aparajit Narayan, Frédéric Labrosse

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)


This paper illustrates a method to design dynamic neural network controllers to allow a robot to autonomously navigate roads based on color perception. The neuro-controller moves the robot by setting the speed of the wheels and adjusts the robot visual systems by setting the value of three parameters that determine how much of the red, green and blue components of the RGB camera images contribute in generating the network input vector. Results show that the best evolved controller can successfully drive a real robot in environments with color characteristics never encountered during evolution. Moreover, we show that the dynamic color perception abilities are based on complex patterns of activation of the three color parameters. These patterns are generated by evolved neural mechanisms that successfully adapt the robot perceptual system to the color characteristics of the different visual scenes.
Iaith wreiddiolSaesneg
TeitlIntelligent Robots and Systems (IROS)
StatwsCyhoeddwyd - 2015
DigwyddiadIntelligent Robots and Systems - Hamburg, Yr Almaen
Hyd: 29 Medi 201502 Hyd 2015


CynhadleddIntelligent Robots and Systems
Teitl crynoIROS-2015
Gwlad/TiriogaethYr Almaen
Cyfnod29 Medi 201502 Hyd 2015

Ôl bys

Gweld gwybodaeth am bynciau ymchwil 'An active vision approach to the road following problem'. Gyda’i gilydd, maen nhw’n ffurfio ôl bys unigryw.

Dyfynnu hyn