SYSTEM AND METHOD OF SEMANTIC SEGMENTATION FOR A CLEANING DEVICE
Abstract A system and method of semantic segmentation for an autonomous or semi-autonomous cleaning device. By using machine learning and visual data, one can teach an algorithm (e.g., a deep neural network) to distinguish between ground and non-ground spaces. The non-ground spaces are passed to the...
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Zusammenfassung: | Abstract A system and method of semantic segmentation for an autonomous or semi-autonomous cleaning device. By using machine learning and visual data, one can teach an algorithm (e.g., a deep neural network) to distinguish between ground and non-ground spaces. The non-ground spaces are passed to the cleaning device path planning to avoid these areas. The algorithm may be programmed to detect low obstacles (e.g., cardboard boxes, low pallets, forklift tines) and other low-height obstacles. Semantic segmentation obstacle avoidance adds another layer of safety to perception safety protocols of a cleaning device. Seseg PCIL to camera center/semIobstacle 06 semsegPCt c~~ea~lSrlO~~I 00 Laserscan (center) Semseg PC L to teamnera leftfsemlostacle 08 '-"s"'scan (left Semseg PCL to teameraiightserrobstacIe Laserscan (right) 010 Semseg Health iavidbotssemlhealth Monitor OK15I VTCHINGDEVWCE /NOTOK lavidbolsisem/nIference rnrier health Inference Runner OK SiTCHINGDEViCE NOTOK OKJSWTCHINGDEVICE/NOTOK Clear Robot Pause Pause Robot Stop Robot 1016 1014 1012 |
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