Off-road obstacle avoidance through end-to-end learning

Yann LeCun, Urs Muller, Jan Ben, Eric Cosatto, Beat Flepp

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We describe a vision-based obstacle avoidance system for off-road mobile robots. The system is trained from end to end to map raw input images to steering angles. It is trained in supervised mode to predict the steering angles provided by a human driver during training runs collected in a wide variety of terrains, weather conditions, lighting conditions, and obstacle types. The robot is a 50cm off-road truck, with two forward-pointing wireless color cameras. A remote computer processes the video and controls the robot via radio. The learning system is a large 6-layer convolutional network whose input is a single left/right pair of unprocessed low-resolution images. The robot exhibits an excellent ability to detect obstacles and navigate around them in real time at speeds of 2 m/s.

Original languageEnglish (US)
Title of host publicationAdvances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference
Pages739-746
Number of pages8
StatePublished - 2005
Event2005 Annual Conference on Neural Information Processing Systems, NIPS 2005 - Vancouver, BC, Canada
Duration: Dec 5 2005Dec 8 2005

Other

Other2005 Annual Conference on Neural Information Processing Systems, NIPS 2005
CountryCanada
CityVancouver, BC
Period12/5/0512/8/05

Fingerprint

Collision avoidance
Robots
Driver training
Image resolution
Mobile robots
Trucks
Learning systems
Lighting
Cameras
Color

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Signal Processing

Cite this

LeCun, Y., Muller, U., Ben, J., Cosatto, E., & Flepp, B. (2005). Off-road obstacle avoidance through end-to-end learning. In Advances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference (pp. 739-746)

Off-road obstacle avoidance through end-to-end learning. / LeCun, Yann; Muller, Urs; Ben, Jan; Cosatto, Eric; Flepp, Beat.

Advances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference. 2005. p. 739-746.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

LeCun, Y, Muller, U, Ben, J, Cosatto, E & Flepp, B 2005, Off-road obstacle avoidance through end-to-end learning. in Advances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference. pp. 739-746, 2005 Annual Conference on Neural Information Processing Systems, NIPS 2005, Vancouver, BC, Canada, 12/5/05.
LeCun Y, Muller U, Ben J, Cosatto E, Flepp B. Off-road obstacle avoidance through end-to-end learning. In Advances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference. 2005. p. 739-746
LeCun, Yann ; Muller, Urs ; Ben, Jan ; Cosatto, Eric ; Flepp, Beat. / Off-road obstacle avoidance through end-to-end learning. Advances in Neural Information Processing Systems 18 - Proceedings of the 2005 Conference. 2005. pp. 739-746
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