Part-Based Convolutional Neural Network and Dual Interactive Wasserstein Generative Adversarial Networks for Land Mark Detection and Localization of Autonomous Robots in Outdoor Environment

摘要

Robot localization is a fundamental competency required by an autonomous robot because the robot's location knowledge is an essential precursor to making decisions about future actions. Accurate localization of robots or autonomous vehicles is the most important requirement for autonomous applications. In this manuscript, a part-based convolutional neural network and dual interactive Wasserstein generative adversarial networks for landmark detection and localization of autonomous robots in an outdoor environment are proposed (P-CNN-DIWGAN-LMD-LZ). This research contains two phases landmark detection phase and the localization phase. In the landmark detection phase, the part-based convolutional neural network (P-CNN) is proposed to detect landmarks in capturing images. This landmark detection process creates 3 categories of responses for every detected landmarks instance: bounding box, label, and score. The bounding box has positioning with the sizing of detected landmarks at the input imagery. Label implicates detected landmark's class name. A score signifies an abjectness score that scales bounding box membership for landmarks or background classes. In the localization phase, a dual interactive Wasserstein generative adversarial network (DIWGAN) is proposed to determine robot location coordinates. Finally, the proposed method attains high robot localization recall at high accuracy in the real-world environment. Here, the outdoor robot localization dataset is taken from the KITTI dataset. The proposed method is implemented in Python; its performance is estimated under certain performance metrics, like mean absolute error (MAE), cosine proximity (CP), and accuracy. The performance of the proposed method shows higher accuracy compared with existing approaches, like DQP-ODA-LMD-LZ, TDL-LMD-LZ, and 3D-RISS-MLEVD- LMD-LZ.