Object detection and recognition of intelligent service robot based on deep learning

Object detection and recognition is the premise and foundation for intelligent service robot to understand the surrounding environment and make intelligent decisions. In this paper, aiming at the accuracy and real-time performance of object detection and recognition of service robot in complex scenes, an end to end object detection and recognition algorithm based on deep learning is proposed. Firstly, the local multi branch deep convolution neural network is adopted to enhance the feature representation capability of the model by enhancing the convolution module function. Then, combining the anchor point mechanism, the object class and position regression prediction is carried out on the multi-layer feature map. When the local features and the global features are fully fused, the natural multi-scale detection and recognition is realized on multiple receptive fields. Finally, a network acceleration module is designed for GPU parallel acceleration on high performance NVIDIA TX1 embedded board. The experiment was carried out on SIASUN second generation intelligent service robot. The experimental results show that the algorithm has both good accuracy and real-time performance.

I. Introduction

With the rapid development of computer, network, machinery, electronics, automation and artificial intelligence, robot technology has made great progress. Nowadays, robots are used more and more widely. From industrial robots to special robots, and to service robots, the robot market permeates almost all fields. Intelligent robot, as an important carrier of artificial intelligence technology, is expected to have the ability of perceiving, recognizing and decision-making autonomously. It has become a new research focus in robotics field. Among them, the intelligent service robot is most closely related to human daily life. Intelligent service robot has been widely used in the market shopping guide, goods delivery, home service, exhibition hall security, welcome, room service and other services, providing a more convenient way of life for mankind. In order to accomplish these tasks, accurate and fast object detection and recognition is of great significance. It helps intelligent service robots better understand the surrounding environment, thus further making intelligent decisions.