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JET-Net: Real-Time Object Detection for Mobile Robots

  • Bernd Poppinga
  • Tim LaueEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11531)

Abstract

In most applications for autonomous robots, the detection of objects in their environment is of significant importance. As many robots are equipped with cameras, this task is often solved by image processing techniques. However, due to limited computational resources on mobile systems, it is common to use specialized algorithms that are highly adapted to the respective scenario. Sophisticated approaches such as Deep Neural Networks, which recently demonstrated a high performance in many object detection tasks, are often difficult to apply. In this paper, we present JET-Net (Just Enough Time), a model frame for efficient object detection based on Convolutional Neural Networks. JET-Net is able to perform real-time robot detection on a NAO V5 robot in a robot football environment. Experiments show that this system is able to reliably detect other robots in various situations. Moreover, we present a technique that reuses the learned features to obtain more information about the detected objects. Since the additional information can entirely be learned from simulation data, it is called Simulation Transfer Learning.

Notes

Acknowledgements

We would like to thank the members of the team B-Human for providing the software framework for this work as well as everybody who contributed labeled data to the ImageTagger platform, especially the Nao Devils team.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Universität BremenBremenGermany
  2. 2.JUST ADD AI GmbHBremenGermany

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