İHA TABANLI RAY KONTROLÜ İÇİN EVRİŞİMLİ SİNİR AĞLARI İLE RAY GÖRÜNTÜLERİNİN GERÇEK ZAMANLI SEGMENTASYONU

Selçuk Sinan Kırat; İlhan Aydın

doi:10.17780/ksujes.1367644

EN TR

REAL-TIME SEGMENTATION OF RAIL IMAGES WITH CONVOLUTIONAL NEURAL NETWORKS FOR UAV BASED RAIL INSPECTION

Abstract

Railways carry people and their cargo. Checking the rails is important for safe rail travel. Rails are usually controlled manually by humans. With the developing technology, UAVs are now replacing humans in many tasks. Manually checking the rails is time consuming and costly. Therefore, the rails can be controlled by UAVs. In order for UAVs to control the rails, they must fly autonomously on the rails. In order to do this, segmentation must be done on the ray images. Image segmentation is one of the studies in the field of computer vision. Deep learning is used in these studies. UNet, ICNet and BiSeNet V2, which are deep learning-based convolutional neural networks, are used in computer vision applications. These networks, which are used in real-time image segmentation tasks in the literature, were trained by customizing the publicly shared Railsem19 dataset. Networks, which reached 98% segmentation accuracy on 1024×512 pixel resolution images, reached approximately 15 fps on real-time images taken from the railway by UAV. Real-time segmentation video of the networks can be viewed at https://youtu.be/piVTdsDPzfg. A PID flight control system for autonomous UAV flight is also proposed in the study.

Keywords

Supporting Institution

Bu çalışma Fırat Üniversitesi Bilimsel Araştırma Projeleri tarafından ADEP.22.02 proje numarası ile desteklenmiştir.

Project Number

ADEP.22.02

Thanks

Bu çalışma Fırat Üniversitesi Bilimsel Araştırma Projeleri tarafından ADEP.22.02 proje numarası ile desteklenmiştir.

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Details

Primary Language

Turkish

Subjects

Image Processing , Deep Learning , Machine Vision

Journal Section

Research Article

Authors

Selçuk Sinan Kırat
0000-0003-0106-6995
Türkiye

İlhan Aydın ^*
0000-0001-6880-4935
Türkiye

Publication Date

March 3, 2024

Submission Date

September 27, 2023

Acceptance Date

December 25, 2023

Published in Issue

Year 1970 Volume: 27 Number: 1

DOI

https://doi.org/10.17780/ksujes.1367644

IZ

https://izlik.org/JA74UL39KK

Cite

RIS / Bibtex

APA

Kırat, S. S., & Aydın, İ. (2024). İHA TABANLI RAY KONTROLÜ İÇİN EVRİŞİMLİ SİNİR AĞLARI İLE RAY GÖRÜNTÜLERİNİN GERÇEK ZAMANLI SEGMENTASYONU. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 27(1), 151-165. https://doi.org/10.17780/ksujes.1367644

REAL-TIME SEGMENTATION OF RAIL IMAGES WITH CONVOLUTIONAL NEURAL NETWORKS FOR UAV BASED RAIL INSPECTION

REAL-TIME SEGMENTATION OF RAIL IMAGES WITH CONVOLUTIONAL NEURAL NETWORKS FOR UAV BASED RAIL INSPECTION

Abstract

Keywords