Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to recognize such advanced demands to provide appropriate assistance, guidance or other forms of support. In this paper, we propose a depth-based perception pipeline that estimates the position and velocity of people in the environment and categorizes them according to the mobility aids they use: pedestrian, person in wheelchair, person in a wheelchair with a person pushing them, person with crutches and person using a walker. We present a fast region proposal method that feeds a Region-based Convolutional Network (Fast R-CNN). With this, we speed up the object detection process by a factor of seven compared to a dense sliding window approach. We furthermore propose a probabilistic position, velocity and class estimator to smooth the CNN's detections and account for occlusions and misclassifications. In addition, we introduce a new hospital dataset with over 17,000 annotated RGB-D images. Extensive experiments confirm that our pipeline successfully keeps track of people and their mobility aids, even in challenging situations with multiple people from different categories and frequent occlusions. Videos of our experiments and the dataset are available at this http URL
Our work is further related to the research area of object detection, which recently is dominated by deep neural network approaches, most prominently by region-based convolutional neural networks @cite_8 @cite_1 , which achieve very good results but are not applicable for real-time yet. An interesting extension to the region-based CNN detection approaches is the very recently introduced region-based fully convolutional neural network presented by , which increases the test-time speed. Recently proposed an approach that formulates object detection as a regression problem. It can operate in real-time and achieves very impressive performance on several object detection benchmarks. We also employ a region-based convolutional neural network classifier and, to achieve a fast runtime, we combine it with our depth-based region proposal method. Recent work on multi-class object recognition and detection applied to mobile robot scenarios include a Lidar-based wheelchair walker detector @cite_2 and a human gender recognition approach @cite_5 . To the best of our knowledge there exists no prior work that presents multi-class people detection applied to service robot scenarios.
@cite_2 @cite_5 @cite_1 @cite_8
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In Convolutional Neural Network (CNN)-based object detection methods, region proposal becomes a bottleneck when objects exhibit significant scale variation, occlusion or truncation. In addition, these methods mainly focus on 2D object detection and cannot estimate detailed properties of objects. In this paper, we propose subcategory-aware CNNs for object detection. We introduce a novel region proposal network that uses subcategory information to guide the proposal generating process, and a new detection network for joint detection and subcategory classification. By using subcategories related to object pose, we achieve state of-the-art performance on both detection and pose estimation on commonly used benchmarks. Deep Convolutional Neural Networks (CNNs) have demonstrated excellent performance in image classification, but still show room for improvement in object-detection tasks with many categories, in particular for cluttered scenes and occlusion. Modern detection algorithms like Regions with CNNs (, 2014) rely on Selective Search (, 2013) to propose regions which with high probability represent objects, where in turn CNNs are deployed for classification. Selective Search represents a family of sophisticated algorithms that are engineered with multiple segmentation, appearance and saliency cues, typically coming with a significant run-time overhead. Furthermore, (, 2014) have shown that most methods suffer from low reproducibility due to unstable superpixels, even for slight image perturbations. Although CNNs are subsequently used for classification in top-performing object-detection pipelines, current proposal methods are agnostic to how these models parse objects and their rich learned representations. As a result they may propose regions which may not resemble high-level objects or totally miss some of them. To overcome these drawbacks we propose a boosting approach which directly takes advantage of hierarchical CNN features for detecting regions of interest fast. We demonstrate its performance on ImageNet 2013 detection benchmark and compare it with state-of-the-art methods. Convolutional neural networks (CNNs) have shown great performance as general feature representations for object recognition applications. However, for multi-label images that contain multiple objects from different categories, scales and locations, global CNN features are not optimal. In this paper, we incorporate local information to enhance the feature discriminative power. In particular, we first extract object proposals from each image. With each image treated as a bag and object proposals extracted from it treated as instances, we transform the multi-label recognition problem into a multi-class multi-instance learning problem. Then, in addition to extracting the typical CNN feature representation from each proposal, we propose to make use of ground-truth bounding box annotations (strong labels) to add another level of local information by using nearest-neighbor relationships of local regions to form a multi-view pipeline. The proposed multi-view multiinstance framework utilizes both weak and strong labels effectively, and more importantly it has the generalization ability to even boost the performance of unseen categories by partial strong labels from other categories. Our framework is extensively compared with state-of-the-art handcrafted feature based methods and CNN based methods on two multi-label benchmark datasets. The experimental results validate the discriminative power and the generalization ability of the proposed framework. With strong labels, our framework is able to achieve state-of-the-art results in both datasets. In present object detection systems, the deep convolutional neural networks (CNNs) are utilized to predict bounding boxes of object candidates, and have gained performance advantages over the traditional region proposal methods. However, existing deep CNN methods assume the object bounds to be four independent variables, which could be regressed by the l2 loss separately. Such an oversimplified assumption is contrary to the well-received observation, that those variables are correlated, resulting to less accurate localization. To address the issue, we firstly introduce a novel Intersection over Union (IoU) loss function for bounding box prediction, which regresses the four bounds of a predicted box as a whole unit. By taking the advantages of IoU loss and deep fully convolutional networks, the UnitBox is introduced, which performs accurate and efficient localization, shows robust to objects of varied shapes and scales, and converges fast. We apply UnitBox on face detection task and achieve the best performance among all published methods on the FDDB benchmark.