文章基本信息

标题：3D object detection with deep learning
其他标题：3D object detection with deep learning
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作者：Félix Escalona ; Angel Rodriguez ; Francisco Gomez-Donoso 等
期刊名称：Journal of Physical Agents
印刷版ISSN：1888-0258
出版年度：2017
卷号：8
期号：1
页码：3-10
DOI：10.14198/JoPha.2017.8.1.02
语种：English
出版社：Red de Agentes Fisicos
摘要：Finding an appropriate environment representation is a crucial problem in robotics. 3D data has been recently used thanks to the advent of low cost RGB-D cameras. We propose a new way to represent a 3D map based on the information provided by an expert. Namely, the expert is the output of a Convolutional Neural Network trained with deep learning techniques. Relying on such information, we propose the generation of 3D maps using individual semantic labels, which are associated with environment objects or semantic labels. So, for each label we are provided with a partial 3D map whose data belong to the 3D perceptions, namely point clouds, which have an associated probability above a given threshold. The final map is obtained my registering and merging all these partial maps. The use of semantic labels provide us a with way to build the map while recognizing objects.
关键词：Robotics;Semantic mapping; 3D point cloud; Deep learning