Real-time path planning for autonomous vehicle off-road driving.

Background: Autonomous driving is a growing research area that brings benefits in science, economy, and society. Although there are several studies in this area, currently there is no a fully autonomous vehicle, particularly, for off-road navigation. Autonomous vehicle (AV) navigation is a complex process based on application of multiple technologies and algorithms for data acquisition, management and understanding. Particularly, a self-driving assistance system supports key functionalities such as sensing and terrain perception, real time vehicle mapping and localization, path prediction and actuation, communication and safety measures, among others. Methods: In this work, an original approach for vehicle autonomous driving in off-road environments that combines semantic segmentation of video frames and subsequent real-time route planning is proposed. To check the relevance of the proposal, a modular framework for assistive driving in off-road scenarios oriented to resource-constrained devices has been designed. In the scene perception module, a deep neural network is used to segment Red-Green-Blue (RGB) images obtained from camera. The second traversability module fuses Light Detection And Ranging (LiDAR) point clouds with the results of segmentation to create a binary occupancy grid map to provide scene understanding during autonomous navigation. Finally, the last module, based on the Rapidly-exploring Random Tree (RRT) algorithm, predicts a path. The Freiburg Forest Dataset (FFD) and RELLIS-3D dataset were used to assess the performance of the proposed approach. The theoretical contributions of this article consist of the original approach for image semantic segmentation fitted to off-road driving scenarios, as well as adapting the shortest route searching A* and RRT algorithms to AV path planning. Results: The reported results are very promising and show several advantages compared to previously reported solutions. The segmentation precision achieves 85.9% for FFD and 79.5% for RELLIS-3D including the most frequent semantic classes. While compared to other approaches, the proposed approach is faster regarding computational time for path planning.

Measuring water holding capacity in pork meat images using deep learning.

Water holding capacity (WHC) plays an important role when obtaining a high-quality pork meat. This attribute is usually estimated by pressing the meat and measuring the amount of water expelled by the sample and absorbed by a filter paper. In this work, we used the Deep Learning (DL) architecture named U-Net to estimate water holding capacity (WHC) from filter paper images of pork samples obtained using the press method. We evaluated the ability of the U-Net to segment the different regions of the WHC images and, since the images are much larger than the traditional input size of the U-Net, we also evaluated its performance when we change the input size. Results show that U-Net can be used to segment the external and internal areas of the WHC images with great precision, even though the difference in the appearance of these areas is subtle.