Deep learning of structured environments for robot search

摘要

Robots often operate in built environments containing underlying structure that can be exploited to help predict future observations. In this work, we present a deep learning based approach to predict exit locations of buildings. This technique exploits the inherent structure of buildings to create a model. A convolutional neural network is trained using a database of building blueprints and used to guide a search within a building. This technique is compared to standard frontier exploration and a traditional image processing approach of extracting features through histogram of gradients (HOG) and training a support vector machine (SVM). After validation through simulation, we show that the proposed deep learning technique reduces the amount of building exploration required to find the goal by 36%.