Cross-Domain Indoor Visual Place Recognition for Mobile Robot via Generalization Using Style Augmentation.
SENSORS (BASEL, SWITZERLAND) 2023;
23:6134. [PMID:
37447982 PMCID:
PMC10346347 DOI:
10.3390/s23136134]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/11/2023] [Revised: 06/22/2023] [Accepted: 06/26/2023] [Indexed: 07/15/2023]
Abstract
The article presents an algorithm for the multi-domain visual recognition of an indoor place. It is based on a convolutional neural network and style randomization. The authors proposed a scene classification mechanism and improved the performance of the models based on synthetic and real data from various domains. In the proposed dataset, a domain change was defined as a camera model change. A dataset of images collected from several rooms was used to show different scenarios, human actions, equipment changes, and lighting conditions. The proposed method was tested in a scene classification problem where multi-domain data were used. The basis was a transfer learning approach with an extension style applied to various combinations of source and target data. The focus was on improving the unknown domain score and multi-domain support. The results of the experiments were analyzed in the context of data collected on a humanoid robot. The article shows that the average score was the highest for the use of multi-domain data and data style enhancement. The method of obtaining average results for the proposed method reached the level of 92.08%. The result obtained by another research team was corrected.
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