DeepWay: a Deep Learning Waypoint Estimator for Global Path Generation
- URL: http://arxiv.org/abs/2010.16322v2
- Date: Thu, 21 Jan 2021 17:01:14 GMT
- Title: DeepWay: a Deep Learning Waypoint Estimator for Global Path Generation
- Authors: Vittorio Mazzia, Francesco Salvetti, Diego Aghi and Marcello Chiaberge
- Abstract summary: The presented research proposes a feature learning fully convolutional model capable of estimating waypoints given an occupancy grid map.
In particular, we apply the proposed data-driven methodology to the specific case of row-based crops with the general objective to generate a global path able to cover the extension of the crop completely.
- Score: 1.3764085113103222
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Agriculture 3.0 and 4.0 have gradually introduced service robotics and
automation into several agricultural processes, mostly improving crops quality
and seasonal yield. Row-based crops are the perfect settings to test and deploy
smart machines capable of monitoring and manage the harvest. In this context,
global path generation is essential either for ground or aerial vehicles, and
it is the starting point for every type of mission plan. Nevertheless, little
attention has been currently given to this problem by the research community
and global path generation automation is still far to be solved. In order to
generate a viable path for an autonomous machine, the presented research
proposes a feature learning fully convolutional model capable of estimating
waypoints given an occupancy grid map. In particular, we apply the proposed
data-driven methodology to the specific case of row-based crops with the
general objective to generate a global path able to cover the extension of the
crop completely. Extensive experimentation with a custom made synthetic dataset
and real satellite-derived images of different scenarios have proved the
effectiveness of our methodology and demonstrated the feasibility of an
end-to-end and completely autonomous global path planner.
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