A Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots

• Published in: IEEE robotics and automation letters Vol. 1; no. 2; pp. 661 - 667
• Main Authors: Giusti, Alessandro, Guzzi, Jerome, Ciresan, Dan C., Fang-Lin He, Rodriguez, Juan P., Fontana, Flavio, Faessler, Matthias, Forster, Christian, Schmidhuber, Jurgen, Di Caro, Gianni, Scaramuzza, Davide, Gambardella, Luca M.
• Format: Journal Article
• Language: English
• Published: IEEE 01.07.2016
• Subjects: Aerial Robotics; Cameras; Deep Learning; Image segmentation; Machine Learning; Mobile robots; Roads; Robot vision systems; Visual perception; Visual-Based Navigation; Visual-Based Navigation; Machine Learning; Aerial Robotics; Deep Learning

We study the problem of perceiving forest or mountain trails from a single monocular image acquired from the viewpoint of a robot traveling on the trail itself. Previous literature focused on trail segmentation, and used low-level features such as image saliency or appearance contrast; we propose a...