Door recognition and deep learning algorithm for visual based robot navigation

摘要

In this paper, a new method based on deep learning for robotics autonomous navigation is presented. Different from the most traditional methods based on fixed models, a convolutional neural network (CNN) modelling technique in Deep learning is selected to extract the feature inspired by the working pattern of the biological brain. This neural network model has muti-layer features where the ambient scenes can be recognized and useful information such as the location of door can be identified. The extracted information can be used for robot navigation, so does the robot can approach the target accurately. In the field experiments, detecting doors and predicting the door poses such tasks are designed in the indoor environment to verify the proposed method. The experimental results demonstrate that the doors can be identified with good performance and the deep learning model is suitable for robot navigation.