# Autonomous Navigation in Dynamic Environments: Deep Learning-Based Approach

arXiv: https://arxiv.org/abs/2102.08758 · HTML: https://mlsanity.com/paper/2102.08758/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 18 of its 43 references that are in the map.
- First posted on arXiv 3 Feb 2021.

## Builds on (most cited first, 18 of 18)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [Fast and Accurate Deep Network Learning by Exponential Linear Units (ELUs)](https://mlsanity.com/paper/1511.07289/) (2015)
- [Spatial Pyramid Pooling in Deep Convolutional Networks for Visual Recognition](https://mlsanity.com/paper/1406.4729/) (2014)
- [Empirical Evaluation of Rectified Activations in Convolutional Network](https://mlsanity.com/paper/1505.00853/) (2015)
- [Recent Advances in Convolutional Neural Networks](https://mlsanity.com/paper/1512.07108/) (2015)
- [Large-Margin Softmax Loss for Convolutional Neural Networks](https://mlsanity.com/paper/1612.02295/) (2016)
- [Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigation](https://mlsanity.com/paper/1703.00420/) (2017)
- [From Perception to Decision: A Data-driven Approach to End-to-end Motion Planning for Autonomous Ground Robots](https://mlsanity.com/paper/1609.07910/) (2016)
- [Contextual Action Recognition with R*CNN](https://mlsanity.com/paper/1505.01197/) (2015)
- [DeepID-Net: Deformable Deep Convolutional Neural Networks for Object Detection](https://mlsanity.com/paper/1412.5661/) (2014)
- [R-CNNs for Pose Estimation and Action Detection](https://mlsanity.com/paper/1406.5212/) (2014)
- [Detection, localisation and tracking of pallets using machine learning techniques and 2D range data](https://mlsanity.com/paper/1803.11254/) (2018)
- [Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study](https://mlsanity.com/paper/2004.08641/) (2020)

## Abstract (arXiv)

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different environments. This thesis studies different deep learning-based approaches, highlighting the advantages and disadvantages of each scheme. In fact, these approaches are promising that some of them can navigate the robot in unknown and dynamic environments. In this thesis, one of the deep learning methods based on convolutional neural network (CNN) is realized by software implementations. There are different preparation studies to complete this thesis such as introduction to Linux, robot operating system (ROS), C++, python, and GAZEBO simulator. Within this work, we modified the drone network (namely, DroNet) approach to be used in an indoor environment by using a ground robot in different cases. Indeed, the DroNet approach suffers from the absence of goal-oriented motion. Therefore, this thesis mainly focuses on tackling this problem via mapping using simultaneous localization and mapping (SLAM) and path planning techniques using Dijkstra. Afterward, the combination between the DroNet ground robot-based, mapping, and path planning leads to a goal-oriented motion, following the shortest path while avoiding the dynamic obstacle. Finally, we propose a low-cost approach, for indoor applications such as restaurants, museums, etc, on the base of using a monocular camera instead of a laser scanner.