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| Author(s): |
Patrick Yuri Shinzato
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) |
| Defense date: | 2010-11-22 |
| Examining board members: |
Denis Fernando Wolf;
Mario Fernando Montenegro Campos;
Fernando Santos Osório
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| Advisor: | Denis Fernando Wolf |
| Abstract | |
Autonomous navigation is a fundamental problem in mobile robotics. In order to perform this task, a robot must identify the areas where it can navigate safely. This dissertation proposes a navigable terrain identification system based on computer vision and neural networks. More specifically, it is presented a study of image attributes, such as statistical decriptors and elements of different color spaces, that are used as neural neworks inputs for the navigable surfaces identification. The system developed combines the classification results of multiple neural networks topologies with different image attributes. This combination of classification results allows for improved efficient and robustenes in different scenarios (AU) | |
| FAPESP's process: | 09/04383-6 - Vision based intelligent control |
| Grantee: | Patrick Yuri Shinzato |
| Support Opportunities: | Scholarships in Brazil - Master |