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Master's Thesis - Amlaan Shakeel.pdf (8.71 MB)

ETD Abstract Container

Abstract Header

Service robot for the visually impaired: Providing navigational assistance using Deep Learning

Shakeel, Amlaan
http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366

Abstract Details

2017, Master of Science, Miami University, Computational Science and Engineering.
Assistive technology helps improve the day to day activities for people with disabilities. One of the methods utilized by assistive technologists employs the use of robots. These are called service robots. This thesis explores the idea of a service robot for the visually impaired to assist with navigation and is inspired by the use of guide dogs. The focus of this thesis is to develop a robot to achieve autonomous indoor navigation using computer vision to identify image based goals in an unfamiliar environment. The method presented in this thesis utilizes a deep learning framework, called Faster R-CNN, to train a computer to classify and localize exit signs in real time. A proof of concept is presented using NVIDIA Jetson, and TurtleBot, a robot kit, which runs a robot software development framework Robot Operating System (ROS). The model is trained successfully using Faster R-CNN and is validated. The model is used for real-time object classification on the prototype robot.
Yamuna Rajasekhar (Advisor)
John Femiani (Committee Member)
Donald Ucci (Committee Member)
56 p.
Computer Science; Electrical Engineering; Robotics
Assistive technology; Deep learning; Robotics; Indoor navigation; Computer vision; Robot Operating System; ROS; Caffe; Faster R-CNN; Convolutional Neural Networks; CNN; Microsoft Kinect; Service robots; visually impaired; mobility; depth perception

Recommended Citations

Citations

  • Shakeel, A. (2017). Service robot for the visually impaired: Providing navigational assistance using Deep Learning [Master's thesis, Miami University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366

    APA Style (7th edition)

  • Shakeel, Amlaan. Service robot for the visually impaired: Providing navigational assistance using Deep Learning . 2017. Miami University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366.

    MLA Style (8th edition)

  • Shakeel, Amlaan. "Service robot for the visually impaired: Providing navigational assistance using Deep Learning ." Master's thesis, Miami University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366

    Chicago Manual of Style (17th edition)

miami1500647716257366
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© 2017, all rights reserved.
This open access ETD is published by Miami University and OhioLINK.