Prior knowledge-based deep learning method for indoor object recognition and application

Ding, Xintao; Luo, Yonglong; Li, Qingde; Cheng, Yongqiang; Cai, Guorong; Munnoch, Robert; Xue, Dongfei; Yu, Qingying; Zheng, Xiaoyao; Wang, Bing

Abstract

Indoor object recognition is a key task for indoor navigation by mobile robots. Although previous work has produced impressive results in recognizing known and familiar objects, the research of indoor object recognition for robot is still insufficient. In order to improve the detection precision, our study proposed a prior knowledge-based deep learning method aimed to enable the robot to recognize indoor objects on sight. First, we integrate the public Indoor dataset and the private frames of videos (FoVs) dataset to train a convolutional neural network (CNN). Second, mean images, which are used as a type of colour knowledge, are generated for all the classes in the Indoor dataset. The distance between every mean image and the input image produces the class weight vector. Scene knowledge, which consists of frequencies of occurrence of objects in the scene, is then employed as another prior knowledge to determine the scene weight. Finally, when a detection request is launched, the two vectors together with a vector of classification probability instigated by the deep model are multiplied to produce a decision vector for classification. Experiments show that detection precision can be improved by employing the prior colour and scene knowledge. In addition, we applied the method to object recognition in a video. The results showed potential application of the method for robot vision.

Citation

Ding, X., Luo, Y., Li, Q., Cheng, Y., Cai, G., Munnoch, R., Xue, D., Yu, Q., Zheng, X., & Wang, B. (2018). Prior knowledge-based deep learning method for indoor object recognition and application. Systems Science and Control Engineering, 6(1), 249-257. https://doi.org/10.1080/21642583.2018.1482477

• Journal Article Type: Article
• Acceptance Date: May 26, 2018
• Online Publication Date: May 31, 2018
• Publication Date: May 31, 2018
• Deposit Date: Jul 19, 2018
• Publicly Available Date: Jul 20, 2018
• Journal: Systems Science & Control Engineering
• Print ISSN: 2164-2583
• Publisher: Taylor and Francis
• Peer Reviewed: Peer Reviewed
• Volume: 6
• Issue: 1
• Pages: 249-257
• DOI: https://doi.org/10.1080/21642583.2018.1482477
• Keywords: Indoor object recognition; Deep learning; Prior knowledge
• Public URL: https://hull-repository.worktribe.com/output/936992
• Publisher URL: https://www.tandfonline.com/doi/full/10.1080/21642583.2018.1482477
• Additional Information: Peer Review Statement: The publishing and review policy for this title is described in its Aims & Scope.; Aim & Scope: http://www.tandfonline.com/action/journalInformation?show=aimsScope&journalCode=tssc20
• Contract Date: Jul 20, 2018