Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator

Author(s):  
Zhengxue Zhou ◽  
Leihui Li ◽  
Riwei Wang ◽  
Xuping Zhang
Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 517
Author(s):  
Seong-heum Kim ◽  
Youngbae Hwang

Owing to recent advancements in deep learning methods and relevant databases, it is becoming increasingly easier to recognize 3D objects using only RGB images from single viewpoints. This study investigates the major breakthroughs and current progress in deep learning-based monocular 3D object detection. For relatively low-cost data acquisition systems without depth sensors or cameras at multiple viewpoints, we first consider existing databases with 2D RGB photos and their relevant attributes. Based on this simple sensor modality for practical applications, deep learning-based monocular 3D object detection methods that overcome significant research challenges are categorized and summarized. We present the key concepts and detailed descriptions of representative single-stage and multiple-stage detection solutions. In addition, we discuss the effectiveness of the detection models on their baseline benchmarks. Finally, we explore several directions for future research on monocular 3D object detection.


2020 ◽  
Vol 1518 ◽  
pp. 012049
Author(s):  
Junhui Wu ◽  
Dong Yin ◽  
Jie Chen ◽  
Yusheng Wu ◽  
Huiping Si ◽  
...  

2021 ◽  
Author(s):  
Yunfei Ge ◽  
Qing Zhang ◽  
Yuantao Sun ◽  
Yidong Shen ◽  
Xijiong Wang

Abstract Background: Grayscale medical image segmentation is the key step in clinical computer-aided diagnosis. Model-driven and data-driven image segmentation methods are widely used for their less computational complexity and more accurate feature extraction. However, model-driven methods like thresholding usually suffer from wrong segmentation and noises regions because different grayscale images have distinct intensity distribution property thus pre-processing is always demanded. While data-driven methods with deep learning like encoder-decoder networks always are always accompanied by complex architectures which require amounts of training data. Methods: Combining thresholding method and deep learning, this paper presents a novel method by using 2D&3D object detection technologies. First, interest regions contain segmented object are determined with fine-tuning 2D object detection network. Then, pixels in cropped images are turned as point cloud according to their positions and grayscale values. Finally, 3D object detection network is applied to obtain bounding boxes with target points and boxes’ bottoms and tops represent thresholding values for segmentation. After projecting to 2D images, these target points could composite the segmented object. Results: Three groups of grayscale medical images are used to evaluate the proposed image segmentation method. We obtain the IoU (DSC) scores of 0.92 (0.96), 0.88 (0.94) and 0.94 (0.94) for segmentation accuracy on different datasets respectively. Also, compared with five state of the arts and clinically performed well models, our method achieves higher scores and better performance.Conclusions: The prominent segmentation results demonstrate that the built method based on 2D&3D object detection with deep learning is workable and promising for segmentation task of grayscale medical images.


IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Sabera Hoque ◽  
MD. Yasir Arafat ◽  
Shuxiang Xu ◽  
Ananda Maiti ◽  
Yuchen Wei

Author(s):  
Félix Escalona ◽  
Ángel Rodríguez ◽  
Francisco Gomez-Donoso ◽  
Jesús Martínez-Gómez ◽  
Miguel Cazorla

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