MasterarbeitLatex/VorlageTeX/abschlussarbeit.toc

\boolfalse {citerequest}\boolfalse {citetracker}\boolfalse {pagetracker}\boolfalse {backtracker}\relax 
\babel@toc {ngerman}{}\relax 
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\nonumberline Zusammenfassung / Abstract}{III}{chapter*.1}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{Abkürzungsverzeichnis}{VII}{section*.3}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{Symbolverzeichnis}{IX}{section*.5}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {1}Einleitung}{1}{chapter.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {1.1}Problemstellung}{1}{section.1.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {1.2}Ziel der Arbeit}{3}{section.1.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {1.3}Methodik}{3}{section.1.3}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {1.4}Aufbau der Masterarbeit}{3}{section.1.4}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {2}Theoretische Grundlagen}{4}{chapter.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {2.1}Machine Learning}{4}{section.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.1}Lernalgorithmen nach Aufgaben}{4}{subsection.2.1.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.1.1}Klassifizierung}{4}{subsubsection.2.1.1.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.1.2}Regression}{5}{subsubsection.2.1.1.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.1.3}Transkription}{5}{subsubsection.2.1.1.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.1.4}Maschinelle Übersetzung}{5}{subsubsection.2.1.1.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.1.5}Erkennung von Anomalien}{5}{subsubsection.2.1.1.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.2}Lernalgorithmen nach Erfahrung}{5}{subsection.2.1.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.2.1}Überwachtes Lernen}{5}{subsubsection.2.1.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.2.2}Unüberwachtes Lernen}{6}{subsubsection.2.1.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.1.2.3}Reinforcement Learning}{6}{subsubsection.2.1.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.3}Generalisierung}{6}{subsection.2.1.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.4}Hyperparameter und Validierung}{8}{subsection.2.1.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.5}Maximum-Likelihood-Schätzung}{9}{subsection.2.1.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.1.6}Stochastisches Gradientenabstiegsverfahren}{10}{subsection.2.1.6}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {2.2}Künstliche tiefe neuronale Netze}{11}{section.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.1}Tiefe Feedforward-Netze}{11}{subsection.2.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.2}Aktivierungsfunktionen}{14}{subsection.2.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.3}Backpropagation}{16}{subsection.2.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.4}Regularisierung}{16}{subsection.2.2.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.4.1}Parameter-Norm-Strafterme L2- und L1-Regularisierung}{16}{subsubsection.2.2.4.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.4.2}Erweitern des Datensatzes / Data Augmentation}{18}{subsubsection.2.2.4.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.4.3}Früher Abbruch}{18}{subsubsection.2.2.4.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.4.4}Dropout}{18}{subsubsection.2.2.4.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.5}Optimierung beim Trainieren neuronaler Netze}{19}{subsection.2.2.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.5.1}Stochastisches Gradientenabstiegsverfahren}{19}{subsubsection.2.2.5.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.5.2}Momentum}{19}{subsubsection.2.2.5.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.5.3}Adaptive Lernraten}{20}{subsubsection.2.2.5.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.5.4}Anpassung der Merkmale mit Standardisierung und Normierung}{20}{subsubsection.2.2.5.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.5.5}Batch-Normalisierung}{21}{subsubsection.2.2.5.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.2.6}Konvolutionale Neuronale Netze}{21}{subsection.2.2.6}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.6.1}Faltungsoperation mittels Kernel / Convolution}{22}{subsubsection.2.2.6.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.2.6.2}Pooling / Max-Pooling}{25}{subsubsection.2.2.6.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {2.3}Objekterkennung mittels neuronaler Netze}{26}{section.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.3.1}Parameter zur Objektidentifikation}{26}{subsection.2.3.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.3.2}Netzarchitekturen}{26}{subsection.2.3.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.2.1}Single Shot MultiBox Detector}{26}{subsubsection.2.3.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.2.2}Mobilenet V1 / V2 als Basisnetz zum \gls {SSD}}{28}{subsubsection.2.3.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.2.3}\gls {SSD}Lite}{30}{subsubsection.2.3.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.2.4}ResNet-50 als Basisnetz zum \gls {SSD}}{31}{subsubsection.2.3.2.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.2.5}Feature Pyramid Network}{31}{subsubsection.2.3.2.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.3.3}Evaluierung der Objekterkennung}{32}{subsection.2.3.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.3.1}Konfusionsmatrix}{32}{subsubsection.2.3.3.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.3.2}Accuracy}{33}{subsubsection.2.3.3.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.3.3}Precision und Recall}{33}{subsubsection.2.3.3.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.3.4}Intersection over Union}{34}{subsubsection.2.3.3.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {2.3.3.5}Mean Average Precision / Average Precision / Average Recall}{34}{subsubsection.2.3.3.5}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {2.4}Depth Estimation mittels neuronaler Netze}{35}{section.2.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.4.1}MiDaS}{35}{subsection.2.4.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {2.4.2}PyDnet}{37}{subsection.2.4.2}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {3}Methodik}{38}{chapter.3}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.1}Verwandte Arbeiten}{38}{section.3.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.2}Hardware}{38}{section.3.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.2.1}Roboter mit Arduinoboard und Bluetooth-Modul}{39}{subsection.3.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.2.2}Anforderungen und Lösungsansätze bezüglich Hardware}{39}{subsection.3.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.2.3}Hardware für die Inferenz des Machine-Learning-Modells}{40}{subsection.3.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.2.4}Hardware für das Training des Machine-Learning-Modells}{41}{subsection.3.2.4}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.3}Navigation}{41}{section.3.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.3.1}Zielerkennung als Türdetektion mittels Objektdetektion}{42}{subsection.3.3.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.3.2}Hindernisvermeidung durch Depth Estimation}{42}{subsection.3.3.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.4}Frameworks für technische Umsetzung}{43}{section.3.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.4.1}TensorFlow}{43}{subsection.3.4.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.4.2}TensorFlow Object Detection API}{43}{subsection.3.4.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.4.3}TensorFlow Lite}{43}{subsection.3.4.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.4.4}Android Studio}{44}{subsection.3.4.4}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.5}Machine Learning}{44}{section.3.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.5.1}Netzarchitekturen}{44}{subsection.3.5.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.5.2}Datensatz}{45}{subsection.3.5.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.2.1}Datensatz für allgemeine Türdetektion}{45}{subsubsection.3.5.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.2.2}Datensatz für spezielle Türdetektion für die codemanufaktur GmbH}{46}{subsubsection.3.5.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.2.3}Labeln der Bilder für die Ground Truth}{46}{subsubsection.3.5.2.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.5.3}Training, Validierung und Test}{47}{subsection.3.5.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.3.1}Einstellungen der Hyperparameter}{47}{subsubsection.3.5.3.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.3.2}Test- und Validierungs-Ergebnisse des Machine Learnings}{51}{subsubsection.3.5.3.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.3.3}Trainings-Ergebnisse des Generalisierungsfehlers des Machine Learnings}{53}{subsubsection.3.5.3.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.3.4}Dauer des Machine Learnings}{53}{subsubsection.3.5.3.4}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.5.3.5}Plots des Trainings des SSD MobileNet FPNLite 320x320}{55}{subsubsection.3.5.3.5}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.5.4}Konvertierung des Modells zu TensorFlow Lite}{59}{subsection.3.5.4}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.6}Implementierung der Navigation mittels Android App}{62}{section.3.6}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.6.1}Einbindung der trainierten Netze}{62}{subsection.3.6.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.6.2}Algorithmus der Zielnavigation mittels Türdetektion}{63}{subsection.3.6.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.6.3}Algorithmus der Hindernisvermeidung}{65}{subsection.3.6.3}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.6.4}Zustandsautomat zur Zusammenführung der Türdetektion und Hindernisvermeidung}{67}{subsection.3.6.4}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {3.7}Evaluierung der Navigation durch Experiment}{69}{section.3.7}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.7.1}Fernsteuerung und Spiegelung des Smartphone-Screens}{69}{subsection.3.7.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.7.2}Evaluierung der Türdetektion}{69}{subsection.3.7.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.7.2.1}Voruntersuchung der Detektion}{71}{subsubsection.3.7.2.1}%
\defcounter {refsection}{0}\relax 
\contentsline {subsubsection}{\numberline {3.7.2.2}Evaluierung der Zielnavigation}{71}{subsubsection.3.7.2.2}%
\defcounter {refsection}{0}\relax 
\contentsline {subsection}{\numberline {3.7.3}Evaluierung der Navigation mit Hindernisvermeidung und kompletter Navigation}{74}{subsection.3.7.3}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {4}Ergebnisse der Evaluierung der Roboternavigation}{77}{chapter.4}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {4.1}Voruntersuchung}{77}{section.4.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {4.2}Ergebnisse der Roboternavigation}{83}{section.4.2}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {5}Diskussion}{87}{chapter.5}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {5.1}Zusammenfassung der Ergebnisse}{87}{section.5.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {5.2}Interpretation der Ergebnisse}{88}{section.5.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {5.3}Limitierungen}{90}{section.5.3}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {5.4}Weitere Forschungsansätze}{90}{section.5.4}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\numberline {6}Zusammenfassung, Fazit und Ausblick}{92}{chapter.6}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {6.1}Zusammenfassung}{92}{section.6.1}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {6.2}Fazit}{93}{section.6.2}%
\defcounter {refsection}{0}\relax 
\contentsline {section}{\numberline {6.3}Ausblick}{93}{section.6.3}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\nonumberline Literatur}{94}{chapter*.78}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\nonumberline Abbildungsverzeichnis}{100}{chapter*.79}%
\defcounter {refsection}{0}\relax 
\contentsline {chapter}{\nonumberline Tabellenverzeichnis}{102}{chapter*.80}%
\defcounter {refsection}{0}\relax 
\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file