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Object Detection and Recognition of Intelligent Service Robot Based on Deep Learning
Zhang YA(张延安); Wang HY(王宏玉); Xu F(徐方)
作者部门其他
会议名称2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
会议日期November 19-21, 2017
会议地点Ningbo, CHINA
会议主办者IEEE
会议录名称2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
出版者IEEE
出版地NEW YORK
2017
页码171-176
收录类别EI ; CPCI(ISTP)
EI收录号20182705387957
WOS记录号WOS:000425928100031
产权排序1
ISBN号978-1-5386-3135-5
关键词Object Detection Object Recognition Deep Learning Regression Prediction Intelligent Service Robot
摘要

Object detection and recognition is the premise and foundation for intelligent service robot to understand the surrounding environment and make intelligent decisions. In this paper, aiming at the accuracy and real-time performance of object detection and recognition of service robot in complex scenes, an end to end object detection and recognition algorithm based on deep learning is proposed. Firstly, the local multi branch deep convolution neural network is adopted to enhance the feature representation capability of the model by enhancing the convolution module function. Then, combining the anchor point mechanism, the object class and position regression prediction is carried out on the multi-layer feature map. When the local features and the global features are fully fused, the natural multi-scale detection and recognition is realized on multiple receptive fields. Finally, a network acceleration module is designed for GPU parallel acceleration on high performance NVIDIA TX1 embedded board. The experiment was carried out on SIASUN second generation intelligent service robot. The experimental results show that the algorithm has both good accuracy and real-time performance.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21554
专题其他
通讯作者Zhang YA(张延安)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Shenyang SIASUN Robot & Automation Co LTD, Shenyang 110168, Liaoning, China
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GB/T 7714
Zhang YA,Wang HY,Xu F. Object Detection and Recognition of Intelligent Service Robot Based on Deep Learning[C]//IEEE. NEW YORK:IEEE,2017:171-176.
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