RGB-D Image Multi-Target Detection Method Based on 3D DSF R-CNN

摘要

At present, the application of deep learning algorithms in two-dimensional color image detection is being continuously innovated and broken. With the popularity of depth cameras, color image detection methods with depth information need to be upgraded. To solve this problem, a multi-target detection algorithm based on 3D DSF R-CNN (Double Stream Faster R-CNN, Convolution Neural Network based on Candidate Region) is proposed in this paper. The RGB information and the depth information of the image are given to two input elements of the convolution network with the same structure and weight sharing, and an optimal fusion weight algorithm is used to determine the weight of the fusion target in accordance with the recognition accuracy of the recognition targets under the single modal information, so as to ensure the most efficient fusion result. After several convolution operations, the independent features are extracted and the two networks are fused according to the optimal weights in the convolution layer. With the conducting of convolution and extract the fused features, and finally get the output through the full link layer. Compared with the previous two-dimensional convolution network algorithm, this algorithm improves the detection rate and success rate while ensuring the detection time. The experimental result shows that this method has strong robustness for complex illumination and partial occlusion, and has excellent detection results under non-restrictive conditions.