文章基本信息

标题：Algorithm of detection, classification and gripping of occluded objects by CNN techniques and Haar classifiers
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作者：Paula Useche ; Robinson Jimenez-Moreno ; Javier Martinez Baquero 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2020
卷号：10
期号：5
页码：4712-4720
DOI：10.11591/ijece.v10i5.pp4712-4720
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：The following paper presents the development of an algorithm, in charge of detecting, classifying and grabbing occluded objects, using artificial intelligence techniques, machine vision for the recognition of the environment, an anthropomorphic manipulator for the manipulation of the elements. 5 types of tools were used for their detection and classification, where the user selects one of them, so that the program searches for it in the work environment and delivers it in a specific area, overcoming difficulties such as occlusions of up to 70%. These tools were classified using two CNN (convolutional neural network) type networks, a fast R-CNN (fast region-based CNN) for the detection and classification of occlusions, and a DAG-CNN (directed acyclic graph-CNN) for the classification tools. Furthermore, a Haar classifier was trained in order to compare its ability to recognize occlusions with respect to the fast R-CNN. Fast R-CNN and DAG-CNN achieved 70.9% and 96.2% accuracy, respectively, Haar classifiers with about 50% accuracy, and an accuracy of grip and delivery of occluded objects of 90% in the application, was achieved.
关键词：DAG-CNN;Fast R-CNN;Haar classifiers;Machine vision;Manipulator robot;Occluded objects;VRML