Metode Pengenalan Tempat Secara Visual Berbasis Fitur CNN untuk Navigasi Robot di Dalam Gedung

Visual Place Recognition Method Based-on CNN Features for Indoor Robot Navigation

*Hadha Afrisal -  Department of Electrical Engineering, Faculty of Engineering, Universitas Diponegoro, Indonesia
Received: 21 Feb 2019; Revised: 18 Apr 2019; Accepted: 29 Apr 2019; Published: 18 Jul 2019; Available online: 16 Jul 2019.
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In Volume 7, Issue 2, Year 2019 (April 2019)
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Abstract
Place recognition algorithm based-on visual sensor is crucial to be developed especially for an application of indoor robot navigation in which a Ground Positioning System (GPS) is not reliable to be utilized. This research compares the approach of place recognition of using learned-features from a model of Convolutional Neural Network (CNN) against conventional methods, such as Bag of Words (BoW) with SIFT features and Histogram of Oriented Uniform Patterns (HOUP) with its Local Binary Patterns (LBP). This research finding shows that the performance of our approach of using learned-features with transfer learning method from pre-trained CNN AlexNet is better than the conventional methods based-on handcrafted-features such as BoW and HOUP.
Keywords
place recognition; convolutional neural network; visual navigation; mobile robot

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