An evaluation of CNN models and data augmentation techniques in hierarchical localization of mobile robots
Juan José Cabrera,
Orlando José Céspedes,
Sergio Cebollada
et al.
Abstract:This work presents an evaluation of CNN models and data augmentation to carry out the hierarchical localization of a mobile robot by using omnidirectional images. In this sense, an ablation study of different state-of-the-art CNN models used as backbone is presented and a variety of data augmentation visual effects are proposed for addressing the visual localization of the robot. The proposed method is based on the adaption and re-training of a CNN with a dual purpose: (1) to perform a rough localization step … Show more
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