Abstract
The output of the residual network fluctuates greatly with the change of the weight parameters, which greatly affects the performance of the residual network. For dealing with this problem, an improved residual network is proposed. Based on the classical residual network, batch normalization, adaptive -dropout random deactivation function and a new loss function are added into the proposed model. Batch normalization is applied to avoid vanishing/exploding gradients. -dropout is applied to increase the stability of the model, which we select different dropout method adaptively by adjusting parameter. The new loss function is composed by cross entropy loss function and center loss function to enhance the inter class dispersion and intra class aggregation. The proposed model is applied to the indoor positioning of mobile robot in the factory environment. The experimental results show that the algorithm can achieve high indoor positioning accuracy under the premise of small training dataset. In the real-time positioning experiment, the accuracy can reach 95.37.
Highlights
With the development of artificial intelligence technology, various types of robots have been widely used
Based on the classical residual network, batch normalization, adaptive -dropout random deactivation function and a new loss function are added into the proposed model
Batch normalization is applied to avoid vanishing/exploding gradients. -dropout is applied to increase the stability of the model, which we select different dropout method adaptively by adjusting parameter
Summary
With the development of artificial intelligence technology, various types of robots have been widely used. Visionbased methods [4][5] which can realize real-time positioning only by a normal RGB camera, avoid all these bottlenecks mentioned above and provide a new way for indoor positioning. It was found that the accuracy can be improved by increasing the depth of CNN (Convolutional Neural Network). In 2016, He et al proposed a 152 layer ResNet [11], which the residual structure is used in the deep neural network. In order to solve the stability problem of the ResNet, an improved residual network is proposed. Based on the classical residual network, batch normalization, adaptive -dropout random deactivation function and a new loss function are added into the proposed model. The proposed model is applied to the indoor positioning of mobile robot in the factory environment. In the real-time positioning experiment, the accuracy can reach 95.37
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More From: International Journal of Advanced Computer Science and Applications
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