| Presentation | 2020-03-05 Deep Neural Networks for Object Detection and Classification on Domestic Service Robots Yutaro Ishida, Hakaru Tamukoh, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We propose a semi-automatic data set generation method, and a system integration method of robot operating system (ROS) and an field programmable gate array (FPGA) which implemented deep neural networks (DNN), to apply DNN to object detection and recognition on domestic service robots. The proposed methods reduce the manpower required to create a dataset, and implement DNN which is high speed processing and low power consumption into robots. We trained DNN using a dataset generated by the proposed method, implemented it on a robot, and evaluated the number of successful object grasps. In addition, we implemented DNN with the proposed method and other processors, and evaluated these processing performance. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | DNN / Dataset generation / ROS / FPGA |
| Paper # | SIS2019-45 |
| Date of Issue | 2020-02-27 (SIS) |
| Conference Information | |
| Committee | SIS |
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| Conference Date | 2020/3/5(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Saitama Hall |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Soft Computing, etc. |
| Chair | Takayuki Nakachi(NTT) |
| Vice Chair | Noriaki Suetake(Yamaguchi Univ.) / Tomoaki Kimura(Kanagawa Inst. of Tech.) |
| Secretary | Noriaki Suetake(Tokyo Metropolitan Univ.) / Tomoaki Kimura(Kindai Univ.) |
| Assistant | Hideaki Misawa(National Inst. of Tech., Ube College) / Yukihiro Bandoh(NTT) |
| Paper Information | |
| Registration To | Technical Committee on Smart Info-Media Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Deep Neural Networks for Object Detection and Classification on Domestic Service Robots |
| Sub Title (in English) | |
| Keyword(1) | DNN |
| Keyword(2) | Dataset generation |
| Keyword(3) | ROS |
| Keyword(4) | FPGA |
| 1st Author's Name | Yutaro Ishida |
| 1st Author's Affiliation | Kyushu Institute of Technology(Kyutech) |
| 2nd Author's Name | Hakaru Tamukoh |
| 2nd Author's Affiliation | Kyushu Institute of Technology(Kyutech) |
| Date | 2020-03-05 |
| Paper # | SIS2019-45 |
| Volume (vol) | vol.119 |
| Number (no) | SIS-458 |
| Page | pp.pp.45-50(SIS), |
| #Pages | 6 |
| Date of Issue | 2020-02-27 (SIS) |