Object Detection and Recognition of Intelligent Service Robot Based on Deep Learning
文献类型：会议论文
| 作者 | Xu F(徐方); Zhang YA(张延安); Wang HY(王宏玉) |
| 出版日期 | 2017 |
| 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 |
| 关键词 | object detection object recognition deep learning regression prediction intelligent service robot |
| 页码 | 171-176 |
| 通讯作者 | Zhang YA(张延安) |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3135-5 |
| WOS记录号 | WOS:000425928100031 |
| 源URL | [http://ir.sia.cn/handle/173321/21554]  |
| 专题 | 沈阳自动化研究所_其他 |
| 作者单位 | 1.Shenyang SIASUN Robot & Automation Co LTD, Shenyang 110168, Liaoning, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Xu F,Zhang YA,Wang HY. Object Detection and Recognition of Intelligent Service Robot Based on Deep Learning[C]. 见:2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM). Ningbo, CHINA. November 19-21, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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