PATH RECOGNITION FOR

OUTDOOR NAVIGATION
USING ARTIFICAL
NEURAL NETWORKS

TRESA MATHEW
INTRODUCTION
 Most desirable feature of mobile robot
-Autonomous navigation capability.
 Indoor navigation can be made possible by obstacle
avoidance.
 Identify Navigable and non-navigable regions.
 After detection, algorithms on path planning and
reactive obstacle avoidance is performed.
REAL ENVIRONMENTS
METHODOLOGY
 A simple vision based terrain classification method.
 In block-based classification method- image
pixels are grouped to generate a unique feature that
represent the group.
 Features calculated in block- based classification
method
 RGB data
 HSV data
 Entropy

 Advantages
 Faster processing
Entropy
 Regularity degree of data set.
 Shannon entropy
E(X)=-∑x€X p(x)log p(x)
where p(x) is the probability of ‘x’ being in the set.
i.e.: x correspond to the pixel and pixel-block corresponds to
the set.
 Calculation depends on space colors and no. of
channel used.
RGB Color spaces
 Each color can be defined by the quantities of R
(red), G (green) and B (blue) components.
 The feature of pixel- block
 weighted average of pixel occurrence in pixel-block.
 RGB entropy- calculating freq. of pixel in pixel-block.
HSV Color Spaces

 Each pixel can be defined by the quantity variation of

hue, saturation and value (brightness).

 The features of pixel-block

 Hue weighted average
 Hue entropy
 Saturation weighted average
 Saturation entropy
 Artificial Neural Network
 It is the artificial representation of human brain that
tries to simulate its learning process.
 It consists of a pool of simple processing units which
communicate by sending signals to each other over a
large number of weighted connections.
 Operation is based on parallel processing .
 Properties – adaptability, ability to learn, ability of
generalization, organize data
 Network topology:-
 Feed forward network- data flow from input to
output units is strictly feed-forward. i.e. allow neuron
connections between two different layers.
 Recurrent network- contain feedback connections.
i.e.; connections between neurons of the same layer.
Multi-layer Perceptron

 A feed forward neural network model.

 Contains one or more hidden neuron layers between
input and output layers.

Output layer

Input layer
 Learning algorithm used – back propagation algorithm.
 change the weights connected to the network hidden neuron layer,

based on the amount of error in the output compared to the expected

results.
 If RGB is evaluated feature then input layer has 3 neurons, one for each
channel.
 If combination of RGB and H entropy are evaluated then the input layer
has 4 neurons.
 Output layer contains only 1 neuron
 Returns 1- then pixel-block is navigable.
 Returns 0- then pixel-block is non-navigable.
 Experiments and results

Scenario 1, leaves on the way Scenario 2, texture of blocks Scenario 3 ,shadows on the
way
 Features evaluated
 RGB value
 RGB Entropy
 HSV hue
 HSV hue entropy
 HSV saturation
 HSV saturation entropy
 Its combination
Network response
 Network provide responses between 0 and 1.
 If result <=0.4, then the region is classified as non-
navigable.
 If result >=0.6, then the region is classified as
navigable.
 If result>0.4 and result<=0.6, then the region is
classified as un-known, which is actually an error
value.
 Experiment result

 Blue-scenario 1
 Red-scenario 2
 Yellow-scenario 3
 Result –RGB and
RGB entropy
combination

Hit rate Input features

Visualization of Neural network Output

Scenario 1 Scenario 2

Cyan-navigable region
Magenta-non-navigable
Scenario 3 Yellow-unknown region
Conclusion & Future work

 Autonomous navigation –main capability of robots.

 Using ANN terrain can be classified as navigable
or non-navigable region.
 Safe navigation is made possible for robots.
 Combining laser mapping will provide more depth
information.
 Evaluate more complex scenarios.
References
 Patrick Y. Shinzato, Leandro C. Fernandes, Fernando S. Osorio, Denis F. Wolf,
“Path Recognition for Outdoor Navigation Using Artificial Neural Networks:
Case Study”, feb 2010,p-1437 to1442
 Ben Krose and Patrick van der Smagt, ”An introduction to neural networks”
8th edition, 1996
 A. Filipescu, I. Susnea, V. Minzu, G. Vasiliu and S. Filipescu, “Obstacle
Avoidance and Path Following Control of a WMR used as Personal Robotic
Assistant”, 18th Mediterranean Conference on Control & Automation, june
2010,p- 1555 to 1560.
 Dr. Vijayan K. Asari, Old Dominion University Vision Lab“Robotic
Technology Development in Vision Lab”, October 23, 2008
 Howard Demuth, Mark Beale, “Neural Network Toolbox, for use with matlab”,
User’s Guide Version 4.
 Leonardo Noriega, “Multilayer Perceptron Tutorial”, November 17, 2005.
THANK YOU