The use of convolutional neural networks for recognition of the type of premises using special features of the premises

The article proposes a method for recognizing a convolutional neural network (CNN) of the type / class of internal elements of a building layout using specific features of these elements, such as borders or edges. An algorithm for pre-processing of images is proposed to highlight the borders / edges in the image. Also a database is created with images of various types of interior elements of the building layout, such as a corridor, a door (doorway), corner structures and stairs. The article also discusses the own structure of the SNA, and presents data on the accuracy of recognition of various types of premises. The developed method is proposed to use for the primary navigation of mobile robots. (In Russian).