0% Complete
صفحه اصلی
/
سی و دومین کنفرانس بین المللی مهندسی برق
Depth Estimation in Monocular Images of Inside the Sewer Pipes for Navigation of Inspection Robots
نویسندگان :
Zeinab Maroufi
1
Alireza Hadi Hosseinabadi
2
Reza Askari moghadam
3
1- University of Tehran
2- University of Tehran
3- University of Tehran
کلمات کلیدی :
Depth،Estimation،Neural Network،Sewer Pipe
چکیده :
Estimating the depth of a scene from single monocular color images is a fundamental problem in image understanding. Depth estimation is a critical function for robotic tasks such as localization, mapping, and obstacle detection. Recent works based on the development of deep convolutional neural networks provide reliable results. Due to the low cost and relatively small size of monocular cameras, the performance of neural networks for depth estimation from single RGB image has increased significantly. Inspector robots move inside the sewer pipe in an ambiguous environment that has various contaminations and obstacles. As a result of understanding the environment inside the pipe and analyzing the images from the monocular camera, the robot can move more safely and perform the mission more effectively. This paper presents a new deep neural network, called SepiDepth-ASPP. Our approach uses the integration of ASPP and adaptive bins to extract strong global and local contextual features at multiple scales, and then translate them to higher resolutions for clearer depth maps. This network is specially designed for images inside the sewer pipe to more accurately estimate the details of the images in the depth map.This network runs on the dataset inside the sewer pipe and helps the robot comprehend the inside of the pipe environment.
لیست مقالات
لیست مقالات بایگانی شده
MoS2 Grating on a Grounded Periodic SiO2 as a Wideband THz Absorber
Mohammad Amin Zolghadr - Mahmood Rafaei Booket
Integration of P2G and Renewables in Stochastic Day-ahead Electricity-Gas Scheduling
Mojtaba Choghaei - Mohammad Kazem Sheikh-El-Eslami
Design and Determing Two Separate Rotor Axial Flux Permanent Magnet Motor Load and Efficinecy
Siamak Omrani - Ahmad Darabi
بیشینه سازی ظرفیت در رله های تمام دوطرفه تک مسیره با در نظر گرفتن اختلالات سخت افزاری
حسین حصاربنی - زهرا کشاورز گندمانی
An Overview on the primary control of VSC-MTDC systems
Seyed Mohsen Alavi - Reza Ghazi
Study of the interaction between different parameters in the fabrication of paper-based microfluidic devices using the wax printing method
MOHAMMAD DERAKHSHANI - SEYED HOSSEIN TAYEBI - MEHRDAD LOTFI CHOOBBARI - AMIR JAHANSHAHI
Brain Effective Connectivity Comparision in Different States of Familiarity and Desiring Brands Confrontation: a Neuromarketing Study
Mahdi Taghaddossi - Mohammad Hasan Moradi
Optimal Placement of Of Maintenance Teams in Distribution Networks to Minimize Energy Not Supplied
Qasem Asadi - Ali Ashoornezhad - Hamid Falaghi - Maryam Ramezani
Optimal Placement of Followers Within the Convex Hull of Leaders: A Distributed Subgradient Approach
Seyedeh Mahsa Zakipour Bahambari - Saeed Khankalantary
Modeling and Analysis of Segmental Translator Permanent Magnet Linear Switched Reluctance Motor
Milad Golzarzadeh - Hashem Oraee - Babak Ganji
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2