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
Partitioning-based Graph Signal Denoising via Heat Kernel Smoothing
Mohammadreza Fattahi - Hamid Saeedi-Sourck - Vahid Abootalebi
Dynamic State Estimation of Power System Using Gauss-Seidel Cubature Kalman Filter
Atiyeh Keshavarz-Mohammadiyan
طراحی و تحلیل یک حسگر پلاسمونیک ضریب شکست بر پایه فیبر بلور فتونی با هدف بهبود مشخصات فنی
علی یاوری - حسن کاتوزیان - سارا قلی نژاد شفق
A Dual-Band LPDA Antenna Based on MXene for High-Band 5G Application
Javad Shokri seyyedi - Reza Sarraf Shirazi - Gholamreza Moradi
Generation of orbital angular momentum modes via SSPP leaky-wave antenna based on holography technique
Sajjad Zohrevand - Nader Komjani
Electronic properties of 2D perovskites NMA2PbBr4 and NEA2PbBr4 for PeLED applications: first principle approach
Samad Shokouhi - Seyedeh bita Saadatmand - Vahid Ahmadi
بازآرایی پویا شبکه توزیع با حضور ایستگاه شارژ خودرو الکتریکی به کمک یادگیری تقویتی
محمدامین ساعدی - صالح رازینی - محمدامین قاسمی
A novel wideband low profile Fabry-Perot cavity antenna using single-layer partially reflective surface
Mahtab Ghanbari - Bijan Abbasi arand - Maryam Hesari shermeh
Efficient and Fast Analysis of SIW Microwave Devices Using the Multiple Multipole Technique
Ahmad Bakhtafrouz - Mohammad Moemenian - Mohsen Maddahali - Mohsen Karimian Kakolaki
Current Re-use RF Receiver Front-End Topology Combinding LNA, Mixer, VCO and Frequency Divider
Ayda Zamani Ahari - Saeed Saeedi
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.4