3D Convolutional Neural Network for Falling Detection using Only Depth Information

2020 ◽  
Author(s):  
Sara Luengo Sánchez ◽  
Sergio de López Diz ◽  
David Fuentes-Jiménez ◽  
Cristina Losada-Gutiérrez ◽  
Marta Marrón-Romera ◽  
...  
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Depth Information

scholarly journals Geometric property-based convolutional neural network for indoor object detection

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199332
Author(s):  
Xintao Ding ◽  
Boquan Li ◽  
Jinbao Wang
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
Geometric Property ◽  
Ground Truth ◽  
Geometric Constraints ◽  
Depth Information ◽  
Training Set ◽  
Object Knowledge ◽  
The Mean

Indoor object detection is a very demanding and important task for robot applications. Object knowledge, such as two-dimensional (2D) shape and depth information, may be helpful for detection. In this article, we focus on region-based convolutional neural network (CNN) detector and propose a geometric property-based Faster R-CNN method (GP-Faster) for indoor object detection. GP-Faster incorporates geometric property in Faster R-CNN to improve the detection performance. In detail, we first use mesh grids that are the intersections of direct and inverse proportion functions to generate appropriate anchors for indoor objects. After the anchors are regressed to the regions of interest produced by a region proposal network (RPN-RoIs), we then use 2D geometric constraints to refine the RPN-RoIs, in which the 2D constraint of every classification is a convex hull region enclosing the width and height coordinates of the ground-truth boxes on the training set. Comparison experiments are implemented on two indoor datasets SUN2012 and NYUv2. Since the depth information is available in NYUv2, we involve depth constraints in GP-Faster and propose 3D geometric property-based Faster R-CNN (DGP-Faster) on NYUv2. The experimental results show that both GP-Faster and DGP-Faster increase the performance of the mean average precision.

scholarly journals Four-Dimension Deep Learning Method for Flower Quality Grading with Depth Information

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2353
Author(s):  
Xinyan Sun ◽  
Zhenye Li ◽  
Tingting Zhu ◽  
Chao Ni
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Convolutional Neural Network ◽  
Classification Accuracy ◽  
Network Models ◽  
Depth Image ◽  
Depth Information ◽  
Neural Network Models ◽  
Flower Bud ◽  
Flower Quality

Grading the quality of fresh cut flowers is an important practice in the flower industry. Based on the flower maturing status, a classification method based on deep learning and depth information was proposed for the grading of flower quality. Firstly, the RGB image and the depth image of a flower bud were collected and transformed into fused RGBD information. Then, the RGBD information of a flower was set as inputs of a convolutional neural network to determine the flower bud maturing status. Four convolutional neural network models (VGG16, ResNet18, MobileNetV2, and InceptionV3) were adjusted for a four-dimensional (4D) RGBD input to classify flowers, and their classification performances were compared with and without depth information. The experimental results show that the classification accuracy was improved with depth information, and the improved InceptionV3 network with RGBD achieved the highest classification accuracy (up to 98%), which means that the depth information can effectively reflect the characteristics of the flower bud and is helpful for the classification of the maturing status. These results have a certain significance for the intelligent classification and sorting of fresh flowers.

scholarly journals Convolutional neural network-based coarse initial position estimation of a monocular camera in large-scale 3D light detection and ranging maps

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989351
Author(s):  
Manhui Sun ◽  
Shaowu Yang ◽  
Hengzhu Liu
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Convolutional Neural Network ◽  
Initial Position ◽  
Position Estimation ◽  
Light Detection And Ranging ◽  
Depth Image ◽  
Depth Information ◽  
Light Detection ◽  
Monocular Camera

Initial position estimation in global maps, which is a prerequisite for accurate localization, plays a critical role in mobile robot navigation tasks. Global positioning system signals often become unreliable in disaster sites or indoor areas, which require other localization methods to help the robot in searching and rescuing. Many visual-based approaches focus on estimating a robot’s position within prior maps acquired with cameras. In contrast to conventional methods that need a coarse estimation of initial position to precisely localize a camera in a given map, we propose a novel approach that estimates the initial position of a monocular camera within a given 3D light detection and ranging map using a convolutional neural network with no retraining is required. It enables a mobile robot to estimate a coarse position of itself in 3D maps with only a monocular camera. The key idea of our work is to use depth information as intermediate data to retrieve a camera image in immense point clouds. We employ an unsupervised learning framework to predict the depth from a single image. Then we use a pretrained convolutional neural network model to generate depth image descriptors to construct representations of the places. We retrieve the position by computing similarity scores between the current depth image and the depth images projected from the 3D maps. Experiments on the publicly available KITTI data sets have demonstrated the efficiency and feasibility of the presented algorithm.

scholarly journals DENSE MATCHING COMPARISON BETWEEN CENSUS AND A CONVOLUTIONAL NEURAL NETWORK ALGORITHM FOR PLANT RECONSTRUCTION

2018 ◽  
Vol IV-2 ◽  
pp. 303-309
Author(s):  
Y. Xia ◽  
J. Tian ◽  
P. d’Angelo ◽  
P. Reinartz
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Difficulty Level ◽  
Depth Information ◽  
Dense Matching ◽  
Global Matching ◽  
Matching Cost ◽  
Neural Network Algorithm ◽  
Leaf Distribution ◽  
Computation Algorithms

3D reconstruction of plants is hard to implement, as the complex leaf distribution highly increases the difficulty level in dense matching. Semi-Global Matching has been successfully applied to recover the depth information of a scene, but may perform variably when different matching cost algorithms are used. In this paper two matching cost computation algorithms, Census transform and an algorithm using a convolutional neural network, are tested for plant reconstruction based on Semi-Global Matching. High resolution close-range photogrammetric images from a handheld camera are used for the experiment. The disparity maps generated based on the two selected matching cost methods are comparable with acceptable quality, which shows the good performance of Census and the potential of neural networks to improve the dense matching.

scholarly journals Traffic Scene Depth Analysis Based on Depthwise Separable Convolutional Neural Network

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Jianzhong Yuan ◽  
Wujie Zhou ◽  
Sijia Lv ◽  
Yuzhen Chen
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Depth Estimation ◽  
Shallow Depth ◽  
Superior Performance ◽  
Estimation Methods ◽  
Depth Information ◽  
Visual Depth ◽  
The Neural Network ◽  
Block Based

In order to obtain the distances between the surrounding objects and the vehicle in the traffic scene in front of the vehicle, a monocular visual depth estimation method based on the depthwise separable convolutional neural network is proposed in this study. First, features containing shallow depth information were extracted from the RGB images using the convolution layers and maximum pooling layers. Subsampling operations were also performed on these images. Subsequently, features containing advanced depth information were extracted using a block based on an ensemble of convolution layers and a block based on depth separable convolution layers. The output from all different blocks is combined afterwards. Finally, transposed convolution layers were used for upsampling the feature maps to the same size with the original RGB image. During the upsampling process, skip connections were used to merge the features containing shallow depth information that was obtained from the convolution operation through the depthwise separable convolution layers. The depthwise separable convolution layers can provide more accurate depth information features for estimating the monocular visual depth. At the same time, they require reduced computational cost and fewer parameter numbers while providing a similar level (or slightly better) computing performance. Integrating multiple simple convolutions into a block not only increases the overall depth of the neural network but also enables a more accurate extraction of the advanced features in the neural network. Combining the output from multiple blocks can prevent the loss of features containing important depth information. The testing results show that the depthwise separable convolutional neural network provides a superior performance than the other monocular visual depth estimation methods. Therefore, applying depthwise separable convolution layers in the neural network is a more effective and accurate approach for estimating the visual depth.

CONVOLUTIONAL NEURAL NETWORK BASED ALGORITHM FOR CECUM ACHIEVEMENT CONFIRMATION

2020 ◽  
Author(s):  
S Kashin ◽  
D Zavyalov ◽  
A Rusakov ◽  
V Khryashchev ◽  
A Lebedev
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network

Non-Blind Image Deconvolution Based on “Ringing” Removal Using Convolutional Neural Network

2020 ◽  
Vol 2020 (10) ◽  
pp. 181-1-181-7
Author(s):  
Takahiro Kudo ◽  
Takanori Fujisawa ◽  
Takuro Yamaguchi ◽  
Masaaki Ikehara
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Network Architecture ◽  
Large Scale ◽  
Blind Deconvolution ◽  
Training Dataset ◽  
Image Deconvolution ◽  
Classic Problem ◽  
Key Points ◽  
Blind Image

Image deconvolution has been an important issue recently. It has two kinds of approaches: non-blind and blind. Non-blind deconvolution is a classic problem of image deblurring, which assumes that the PSF is known and does not change universally in space. Recently, Convolutional Neural Network (CNN) has been used for non-blind deconvolution. Though CNNs can deal with complex changes for unknown images, some CNN-based conventional methods can only handle small PSFs and does not consider the use of large PSFs in the real world. In this paper we propose a non-blind deconvolution framework based on a CNN that can remove large scale ringing in a deblurred image. Our method has three key points. The first is that our network architecture is able to preserve both large and small features in the image. The second is that the training dataset is created to preserve the details. The third is that we extend the images to minimize the effects of large ringing on the image borders. In our experiments, we used three kinds of large PSFs and were able to observe high-precision results from our method both quantitatively and qualitatively.

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