Semi-Automatic Dataset Generation for Object Detection and Recognition and its Evaluation on Domestic Service Robots

摘要

This paper proposes a method for the semi-automatic generation of a dataset for deep neural networks to perform end-to-end object detection and classification from images, which is expected to be applied to domestic service robots. In the proposed method, the background image of the floor or furniture is first captured. Subsequently, objects are captured from various viewpoints. Then, the background image and the object images are composited by the system (software) to generate images of the virtual scenes expected to be encountered by the robot. At this point, the annotation files, which will be used as teaching signals by the deep neural network, are automatically generated, as the region and category of the object composited with the background image are known. This reduces the human workload for dataset generation. Experiment results showed that the proposed method reduced the time taken to generate a data unit from 167 s, when performed manually, to 0.58 s, i.e., by a factor of approximately 1/287. The dataset generated using the proposed method was used to train a deep neural network, which was then applied to a domestic service robot for evaluation. The robot was entered into the World Robot Challenge, in which, out of ten trials, it succeeded in touching the target object eight times and grasping it four times.