An object perception and positioning method via deep perception learning object detection

doi:10.1002/cpe.6203

	An object perception and positioning method via deep perception learning object detection
	Xiao, Limei 2; Zhang, Yachao 1,2; Gao, Weizhe 2; Xu, Dayou 2; Li, Ce 2
刊名	CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE
	2021-01
页码	-
关键词	depth image object detection object size measurement spatial positioning
ISSN号	1532-0626
DOI	10.1002/cpe.6203
英文摘要	One of the fundamental problems when building perception systems for robot is to be able to provide semantic information as well as positioning in three-dimensional (3D) space. However, two-dimensional (2D) object detectors only can provide the semantic information and pixel coordinate in 2D space. While, the depth image can reflect the relative distance, and the semantic description of the object is poor. In this article, a novel object perception and positioning method via deep perception learning object detection is proposed. First, the RGB image and depth image are collected through the Kinect, and the depth image is processed to ensure the robustness of the model. Then, the RGB image can obtain the object semantic and pixel location information through an object detector based on deep learning. Finally, the object size measurement and 3D positioning are realized by combining the pixel location and the depth information. As a result, the advantages of very accurate 2D detector and the accurate depth information can be effectively captured in our model. Experimental results demonstrate that our method achieves a high accuracy of size measurement and spatial positioning.
WOS研究方向	Computer Science
语种	英语
出版者	WILEY
WOS记录号	WOS:000610860800001
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/147321]
专题	电气工程与信息工程学院
通讯作者	Li, Ce
作者单位	1.Xiamen Univ, Sch Informat, Xiamen, Peoples R China 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Gansu, Peoples R China;
推荐引用方式 GB/T 7714	Xiao, Limei,Zhang, Yachao,Gao, Weizhe,et al. An object perception and positioning method via deep perception learning object detection[J]. CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE,2021:-.
APA	Xiao, Limei,Zhang, Yachao,Gao, Weizhe,Xu, Dayou,&Li, Ce.(2021).An object perception and positioning method via deep perception learning object detection.CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE,-.
MLA	Xiao, Limei,et al."An object perception and positioning method via deep perception learning object detection".CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE (2021):-.