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http://hdl.handle.net/2445/199501
Title: | Detecció de punts de referència en entorns urbans mitjançant visió per computador |
Author: | Garcia i Serrano, Aniol |
Director/Tutor: | Vitrià i Marca, Jordi |
Keywords: | Robots autònoms Sistema de posicionament global Programari Treballs de fi de grau Xarxes neuronals convolucionals Visió per ordinador Autonomous robots Global Positioning System Computer software Convolutional neural networks Computer vision Bachelor's theses |
Issue Date: | 24-Jan-2023 |
Abstract: | [en] This project aims to supply the ADD autonomous robot with a landmark detection system that should be able to easily integrate with the existing localization stack. Multiple landmark have been developed, but this project is centered on urban traffic signs. To be able to detect and classify the signs, three different methods are proposed: the first uses a convolutional neural network (CNN) to both detect and classify the signs; the second one uses a CNN to detect and another one to classify; the third, uses a CNN to detect and more traditional methods to classify. Multiple networks and optimizations are considered, with a strong emphasis with those on the YOLO family. These methods have been tested with the well known GTSDB and GTSRB, and some results have been comparable to the ones obtained in the state of the art. They are also tested in environments much more similar to the ones the robot will encounter, using a specially made dataset. |
Note: | Treballs Finals de Grau d'Enginyeria Informàtica, Facultat de Matemàtiques, Universitat de Barcelona, Any: 2023, Director: Jordi Vitrià i Marca, Sergi Hernández i Alejandro López |
URI: | http://hdl.handle.net/2445/199501 |
Appears in Collections: | Programari - Treballs de l'alumnat Treballs Finals de Grau (TFG) - Enginyeria Informàtica |
Files in This Item:
File | Description | Size | Format | |
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tfg_garcia_serrano_aniol.pdf | Memòria | 6.37 MB | Adobe PDF | View/Open |
codi.zip | Codi font | 7.1 MB | zip | View/Open |
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