Abstract
This paper describes a method of estimating a path to follow from an image in plant-rich environments such as greenhouses and unstructured outdoor scenes. In such environments, there are several factors that make it difficult for robots to determine a path, such as plants covering the path and ambiguous path boundaries. Approaches based on segmentation of traversable regions cannot be applied to such environments because the regions may not be clearly defined or may be occluded. In this work, we propose a method of estimating a path from a single image in the end-to-end fashion. We also develop an automatic annotation method utilizing the robot’s trajectory during the data acquisition phase. We conducted a real-world experiment of robot navigation and confirmed that the proposed method is capable of navigation in paths partially covered by plants. We also confirmed that proposed data annotation method can generate training data more efficiently than manual annotation.
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Uzawa, Y., Matsuzaki, S., Masuzawa, H., Miura, J. (2023). End-to-End Path Estimation and Automatic Dataset Generation for Robot Navigation in Plant-Rich Environments. In: Petrovic, I., Menegatti, E., Marković, I. (eds) Intelligent Autonomous Systems 17. IAS 2022. Lecture Notes in Networks and Systems, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-031-22216-0_19
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DOI: https://doi.org/10.1007/978-3-031-22216-0_19
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