Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios

摘要

Disaster robotics poses particular challenges for computer vision, both in terms of image characteristics (due to motion blur, difficult light conditions, lack of up/down orientation, etc.), and in terms of learning data (limited availability, difficulty of annotation due to image quality, etc.). We developed a system for real-time scene-parsing, intended for use in a support system for operators of remote-controlled mobile robots employed in disaster areas. Our testbed is video footage gathered by a snake-like mobile robot exploring an (artificial) collapsed building environment. The core of the system is a relatively small-scale convolutional neural network. Our approach combines pixel-level learning with superpixel-level classification, in an effort to learn efficiently from a relatively small number of partially annotated frames. Our classification system is capable of real-time operation, and demonstrates that convolutional neural networks can be applied effectively even under the harsh conditions imposed by disaster robotics.