Robust navigation for mobile robot during day and night
This dissertation aims to provide a solution for robust navigation for mobile robot during day and night. The project consists of two main components - point clouds se mantic segmentation and imitation learning for velocity prediction. Features of point clouds and some related work of point clouds...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/155012 |
| _version_ | 1811685110602268672 |
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| author | Qing, Yuzhou |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Qing, Yuzhou |
| author_sort | Qing, Yuzhou |
| collection | NTU |
| description | This dissertation aims to provide a solution for robust navigation for mobile robot
during day and night. The project consists of two main components - point clouds se mantic segmentation and imitation learning for velocity prediction. Features of point
clouds and some related work of point clouds semantic segmentation are introduced
in chapter 2. In chapter 3, we focus on the specific technologies including deep learn ing techniques and the structure of neural network we used in this project. For point
clouds semantic segmentation part, we compare three similar network. And for veloc ity prediction part, we have tested MLP, LSTM and multi-head LSTM networks. An
imaged based convolutional neural network is also used to make contrast experiment.
DeepLab V3 which is used to automatically label the point clouds in this project is
also introduced in this chapter. The results and analysis of all experiments are given
in detail in chapter 4. Finally, chapter 5 makes a conclusion of all work done, presents
current problems and possible solutions for future work. |
| first_indexed | 2024-10-01T04:39:19Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/155012 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:39:19Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1550122023-07-04T16:42:54Z Robust navigation for mobile robot during day and night Qing, Yuzhou Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Engineering::Electrical and electronic engineering This dissertation aims to provide a solution for robust navigation for mobile robot during day and night. The project consists of two main components - point clouds se mantic segmentation and imitation learning for velocity prediction. Features of point clouds and some related work of point clouds semantic segmentation are introduced in chapter 2. In chapter 3, we focus on the specific technologies including deep learn ing techniques and the structure of neural network we used in this project. For point clouds semantic segmentation part, we compare three similar network. And for veloc ity prediction part, we have tested MLP, LSTM and multi-head LSTM networks. An imaged based convolutional neural network is also used to make contrast experiment. DeepLab V3 which is used to automatically label the point clouds in this project is also introduced in this chapter. The results and analysis of all experiments are given in detail in chapter 4. Finally, chapter 5 makes a conclusion of all work done, presents current problems and possible solutions for future work. Master of Science (Computer Control and Automation) 2022-01-28T05:08:49Z 2022-01-28T05:08:49Z 2021 Thesis-Master by Coursework Qing, Y. (2021). Robust navigation for mobile robot during day and night. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/155012 https://hdl.handle.net/10356/155012 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Qing, Yuzhou Robust navigation for mobile robot during day and night |
| title | Robust navigation for mobile robot during day and night |
| title_full | Robust navigation for mobile robot during day and night |
| title_fullStr | Robust navigation for mobile robot during day and night |
| title_full_unstemmed | Robust navigation for mobile robot during day and night |
| title_short | Robust navigation for mobile robot during day and night |
| title_sort | robust navigation for mobile robot during day and night |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/155012 |
| work_keys_str_mv | AT qingyuzhou robustnavigationformobilerobotduringdayandnight |