Vision-based Indoor Localization Algorithm using Improved ResNet

摘要

The output of the residual network fluctuates greatly with the change of the weight parameters, which greatly affects the performance of the residual network. For dealing with this problem, an improved residual network is proposed. Based on the classical residual network, batch normalization, adaptive -dropout random deactivation function and a new loss function are added into the proposed model. Batch normalization is applied to avoid vanishing/exploding gradients. -dropout is applied to increase the stability of the model, which we select different dropout method adaptively by adjusting parameter. The new loss function is composed by cross entropy loss function and center loss function to enhance the inter class dispersion and intra class aggregation. The proposed model is applied to the indoor positioning of mobile robot in the factory environment. The experimental results show that the algorithm can achieve high indoor positioning accuracy under the premise of small training dataset. In the real-time positioning experiment, the accuracy can reach 95.37.