Deep Semantic Image Segmentation for UAV-UGV Cooperative Path Planning: A Car Park Use Case

Mirela Kundid Vasić, Ahmad Drak, Nediljko Bugarin, Josip Music, Christoph Pomrehn, Maximilian Schöbel, Maximilian Johenneken, Ivo Stancic, Vladan Papic, Stanko Kruzic, Rainer Herpers
Accepted for publication The 28th International Conference on Software, Telecommunications and Computer Networks (SoftCOM 2020) - sep 2020

Abstract

Navigation of Unmanned Ground Vehicles (UGV) in unknown environments is an active area of research for mobile robotics. A main hindering factor for UGV navigation is the limited range of the on-board sensors that process only restricted areas of the environment at a time. In addition, most existing approaches process sensor information under the assumption of a static environment. This restrains the exploration capability of the UGV especially in time-critical applications such as search and rescue. The cooperation with an Unmanned Aerial Vehicle (UAV) can provide the UGV with an extended perspective of the environment which enables a better-suited path planning solution that can be adjusted on demand. In this work, we propose a UAV-UGV cooperative path planning approach for dynamic environments by performing semantic segmentation on images acquired from the UAV's view via a deep neural network. The approach is evaluated in a car park scenario, with the goal of providing a path plan to an empty parking space for a ground-based vehicle. The experiments were performed on a created dataset of real-world car park images located in Croatia and Germany, in addition to images from a simulated environment. The segmentation results demonstrate the viability of the proposed approach in producing maps of the dynamic environment on demand and accordingly generating path plans for ground-based vehicles.

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BibTex references

@InProceedings{KDBMPSJSPKH20,
  author       = {Kundid Vasić, Mirela and Drak, Ahmad and Bugarin, Nediljko and Music, Josip and Pomrehn, Christoph and Schöbel, Maximilian and Johenneken, Maximilian and Stancic, Ivo and Papic, Vladan and Kruzic, Stanko and Herpers, Rainer},
  title        = {Deep Semantic Image Segmentation for UAV-UGV Cooperative Path Planning: A Car Park Use Case},
  booktitle    = {Accepted for publication The 28th International Conference on Software, Telecommunications and Computer Networks (SoftCOM 2020)},
  month        = {sep},
  year         = {2020},
  address      = {Hvar, Croatia},
  keywords     = {cooperative path planning; semantic image segmentation; neural networks; unmanned ground vehicle; unmanned aerial vehicle},
}

Other publications in the database

» Ahmad Drak
» Christoph Pomrehn
» Maximilian Johenneken
» Rainer Herpers