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| 题名: | 使用深度學習於RGB-D影像之無人飛行載具避障模型
Collision Avoidance Based on RGB-D Images in Unmanned Aerial Vehicles Using Deep Learning Techniques |
| 作者: | 林宗賢
Lin, Tsung-Hsien |
| 贡献者: | 廖文宏
Liao, Wen-Hung
林宗賢
Lin, Tsung-Hsien |
| 关键词: | 無人機
避障
深度學習
RGB-D影像
UAV
Obstacle avoidance
Deep learning
RGB-D image |
| 日期: | 2020 |
| 上传时间: | 2020-06-02 11:12:29 (UTC+8) |
| 摘要: | 無人機的相關應用越來越廣泛，從原本的國防領域，逐漸被推廣到商業、農業和救災等領域上，使人們的生活日趨便利，在這些應用當中，避障是一個不可或缺的功能，然而使用人為操控的方式無法大規模普及，因此本研究以RGB-D影像與深度學習為基礎，分別為沒有搭載深度攝影機的無人機和有搭載深度攝影機的無人機，提出自動避障的方法。
對於沒有搭載深度攝影機的無人機，本研究從開放的碰撞資料集，使用深度估計模型預測出對應的深度資訊，透過深度資訊在彩色影像中分割出危險、安全等區域，並使用即時語義分割模型進行訓練，將從彩色影像中預測出來的區域分布，透過我們提出的避障機制，使無人機找到一個合適的避障方向。
對於搭載深度攝影機的無人機，本研究使用即時語義分割模型和分群演算法，得到物體的類別和位置資訊，接著使用路徑規劃演算法幫助無人機找出最佳的避障路徑。
本研究所訓練的深度學習模型可以在嵌入式裝置上進行推論，因此我們提出的避障方法將可應用於運算資源有限的無人機。
UAV applications have been extended from the defense sector to commercial, agricultural and disaster relief in recent years. Obstacle avoidance is an essential component for UAV navigation. However, manual manipulation of UAVs is costly in terms of training and human resources. In the thesis, we propose automatic obstacle avoidance mechanisms for UAVs without depth sensors and UAVs with a depth camera based on deep learning techniques.
For UAVs not equipped with depth sensors, we employ depth estimation models to compute depth maps from 2D images. The depth information is then used to partition an image into dangerous and safe zones by a real-time semantic segmentation model. Given the zone distribution, the UAV can determine a suitable obstacle avoidance direction to guarantee a collision-free flight.
For UAVs with a depth camera, we combine semantic segmentation model and clustering algorithm to obtain the class and location of the obstacles. We then apply path planning algorithm to construct the optimal obstacle avoidance path.
All the deep learning models employed in this work meet the requirement of being able to perform inference on embedded systems efficiently. This will ensure the proposed obstacle avoidance algorithms to work on UAVs with limited computing resources. |
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| 描述: | 碩士
國立政治大學
資訊科學系
106753008 |
| 資料來源: | http://thesis.lib.nccu.edu.tw/record/#G0106753008 |
| 数据类型: | thesis |
| DOI: | 10.6814/NCCU202000432 |
| 显示于类别: | [資訊科學系] 學位論文
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