王伟

个人信息Personal Information

教授

博士生导师

硕士生导师

性别:男

毕业院校:东北大学

学位:博士

所在单位:控制科学与工程学院

学科:控制理论与控制工程. 系统工程

办公地点:电信学部大黑楼A0612房间

联系方式:Tel:0411-84707580

电子邮箱:wangwei@dlut.edu.cn

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RGB-DI Images and Full Convolution Neural Network-Based Outdoor Scene Understanding for Mobile Robots

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论文类型:期刊论文

发表时间:2019-01-01

发表刊物:IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT

收录刊物:SCIE、Scopus

卷号:68

期号:1

页面范围:27-37

ISSN号:0018-9456

关键字:Full convolution neural network (FCN); mobile robots; multisensor data fusion; outdoor scene understanding; semantic segmentation

摘要:This paper presents a multisensor-based approach to outdoor scene understanding of mobile robots. Since laser scanning points in 3-D space are distributed irregularly and unbalanced, a projection algorithm is proposed to generate RGB, depth, and intensity (RGB-DI) images so that the outdoor environments can be optimally measured with a variable resolution. The 3-D semantic segmentation in RGB-DI cloud points is, therefore, transformed to the semantic segmentation in RGB-DI images. A full convolution neural network (FCN) model with deep layers is designed to perform semantic segmentation of RGB-DI images. According to the exact correspondence between each 3-D point and each pixel in a RGB-DI image, the semantic segmentation results of the RGB-DI images are mapped back to the original point clouds to realize the 3-D scene understanding. The proposed algorithms are tested on different data sets, and the results show that our RGB-DI image and FCN modelbased approach can provide a superior performance for outdoor scene understanding. Moreover, real-world experiments were conducted on our mobile robot platform to show the validity and practicability of the proposed approach.