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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


Xintao Ding

Yonglong Luo

Guorong Cai

Robert Munnoch

Dongfei Xue

Qingying Yu

Xiaoyao Zheng


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.


Ding, X., Luo, Y., Li, Q., Cheng, Y., Cai, G., Munnoch, R., …Wang, B. (2018). Prior knowledge-based deep learning method for indoor object recognition and application. Systems Science and Control Engineering, 6(1), 249-257.

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 Oct 27, 2022
Journal Systems Science & Control Engineering
Print ISSN 2164-2583
Electronic ISSN 2164-2583
Publisher Taylor and Francis
Peer Reviewed Peer Reviewed
Volume 6
Issue 1
Pages 249-257
Keywords Indoor object recognition; Deep learning; Prior knowledge
Public URL
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Additional Information Peer Review Statement: The publishing and review policy for this title is described in its Aims & Scope.; Aim & Scope:


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© 2018 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.<br /> This is an Open Access article distributed under the terms of the Creative Commons Attribution License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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