深度學習的3D物件偵測、辨識、 與方位估計

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姓名

陳世翔(Shi-Xiang Chen) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

深度學習的3D物件偵測、辨識、與方位估計
(3D Object detection, recognition, and position estimation using CNN)

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摘要(中)

近年來，深度學習技術的快速崛起，使得它在物件偵測與辨識的應用也漸趨成熟；物件偵測的技術也逐漸的擴展到3D應用層面；例如，自駕車、虛擬實境、擴增實境、機器手臂。3D偵測要使用3D影像，3D影像相較於2D影像多了深度資訊，然而3D物件偵測因多了深度資料而變得更困難；例如，有效擷取深度影像特徵、處理更複雜的高維度資料、物體之間的混雜和遮擋、更複雜的場景等等。在本研究中，我們提出一個可直接估計3D物件位置、方向、與大小的卷積神經網路 (convolution neural network, CNN)；透過輸入RGB與深度影像，卷積神經網路擷取特徵並預測物體的類別、姿態、和位置，最後輸出3D邊界框 (bounding box)。
本研究所使用的卷積神經網路模式是改自於有名的2D偵測網路YOLOv3。我們的主要改進分兩部份，一是修改YOLOv3的輸入端，使用RGB與深度影像作為輸入，且將YOLOv3 中的 Darknet-53 架構加入通道注意力 (channel attention) 強化擷取特徵能力，並使用這些特徵進行多尺度的偵測與辨識；二是物件的3D位移分量藉由物件中心與相機的距離來估計，並修改損失函數 (loss function) 加入四元數 (quaternion) 估計物件的3D旋轉分量，最後預測出多類別的物件機率與三維座標、方向及大小尺寸，並輸出3D邊界框。
在實驗中，我們將YOLOv3修改為6DoF YOLO，使網路預測3D邊界框，在(Falling Thing)資料庫下，使用了20854張影像，其中90%為訓練樣本，其餘為測試樣本，此物件偵測系統的mAP為89.33%，經過一連串改動與實驗分析後，我們最終使用的6DoF SE-YOLO架構，此架構增加約1.014倍的參數量及1.002倍的計算量，影像以416×416解析度進行測試，平均執行速度為每秒35張影像，mAP達到93.59%。

摘要(英)

According to rising of deep learning technology, its application in object detection and recognition gradually mature recently. Object detection technology has gradually developed to the 3D application. For example, self-driving cars, virtual reality, augmented reality, and robotic arms. 3D images have depth information, but 2D images haven’t. 3D object detection becomes more difficult due to the depth data. For example, depth image features extracted effectively, complex high-dimensional data handled, object occluded each other, scenes clutter, etc. In our research, we propose a convolution neural network (CNN) that can estimate directly the position and size of 3D objects. After input RGB and depth images extracts features, model outputs 3D bounding boxes.
In our research, model adapted from the famous 2D detection network YOLOv3. We made two improvements of model. First, we modify the input which use RGB and depth images. We use channel attention to enhance the ability to extract features. These features used for multi-scale detection and identify. Second, we estimated the 3D translation by localizing object center in the image and estimating distance object distance from the camera. We add quaternion to the loss function that can estimate the 3D rotation. Our model can predict 3D bounding box which contain the object class, 3D coordinate, position and size.
In the experiment, we modified YOLOv3 to 6DoF YOLO which can predict the 3D bounding box. There are 20854 images in (Falling Thing) dataset, 90% of which are training data and the others are test data. 6DoF YOLO get 89.33% mAP. After experimental analysis, we finally use the 6DoF SE-YOLO architecture. This architecture increases the parameter calculation amount by 1.014 times and 1.002 times, respectively. Our model can reach 93.59% mAP, and the average execution speed on 416×416 images is 35 frames per second.

關鍵字(中)

★ 3D 物件偵測
★ 方位估計
★ 四元數
★ 物件偵測
★ 6個自由度

關鍵字(英)

★ 3D Object detection
★ position estimation
★ quaternion
★ Object detection
★ 6 degree of freedom

論文目次

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 v
表目錄 vii
第一章緒論 1
1.1 研究動機 1
1.2 系統架構 2
1.3 論文特色 3
1.4 論文架構 4
第二章相關研究 5
2.1 2D物件偵測系統相關發展 5
2.2 3D物件偵測系統相關發展 10
第三章 6D網路架構修改 13
3.1 YOLOv3架構 13
3.2 基於YOLOv3架構的6D網路修改 21
第四章四元數與邊界框姿態 31
4.1 四元數的姿態算法 31
4.2 網路的邊界框輸出 36
第五章實驗結果與討論 40
5.1 實驗設備介紹 40
5.2 訓練卷積神經網路 40
5.3 卷積神經網路架構的評估和比較 42
5.4 6DoF SE-YOLO結果展示 46
第六章結論與未來展望 50
參考文獻 52

參考文獻

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指導教授

曾定章(Din-Chang Tseng)

審核日期

2020-7-28

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