Localization of Mobile Robots with Topological Maps and Classification with Reject Option using Convolutional Neural Networks in Omnidirectional Images

Abstract

In this paper, we propose a new localization and navigation approach for mobile robots using topological maps and classification with reject option applying convolutional neural networks (CNN) for feature extraction in omnidirectional images. The use of CNN as feature extractor is based on the concept of Transfer Learning. Reject option is used to improve the task of the classifiers, querying information from the topological map. With the objective of evidencing the high performance of the technique considered, an analysis is made between several feature extractors and classifiers, established in the literature. Parameters such as processing time and accuracy are calculated to prove the credibility and effectiveness of the approach, since these properties are fundamental in the analysis of embedded systems. Considering the proposed approach, CNN stands out among the other feature extractors, as it generated the best results in extraction time and accuracy. It obtained an average accuracy of 99.86% and an extraction time of 0.1517s, proving to be a relevant method for the localization and navigation activities.