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군 로봇의 장소 분류 정확도 향상을 위한 적외선 이미지 데이터 결합 학습 방법 연구
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- Issue Date
- 2023-08
- Citation
- 로봇학회 논문지, v.18, no.3, pp.293-298
- ISSN
- 1975-6291
- Publisher
- 한국로봇학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- The military is facing a continuous decrease in personnel, and in order to cope with potential accidents and challenges in operations, efforts are being made to reduce the direct involvement of personnel by utilizing the latest technologies. Recently, the use of various sensors related to Manned-Unmanned Teaming and artificial intelligence technologies has gained attention, emphasizing the need for flexible utilization methods. In this paper, we propose four dataset construction methods that can be used for effective training of robots that can be deployed in military operations, utilizing not only RGB image data but also data acquired from IR image sensors. Since there is no publicly available dataset that combines RGB and IR image data, we directly acquired the dataset within buildings. The input values were constructed by combining RGB and IR image sensor data, taking into account the field of view, resolution, and channel values of both sensors. We compared the proposed method with conventional RGB image data classification training using the same learning model. By employing the proposed image data fusion method, we observed improved stability in training loss and approximately 3% higher accuracy.
- KSP Keywords
- Construction Method, Dataset construction, Effective training, Field of view(FOV), IR Image, Image Sensor, Improved stability, Latest technologies, Learning model, Military operations, RGB image