15. Amazon Robotics Challengeでの活⽤
Chubu
University
Chukyo
University
Collaboration
Internship
Join as academic staff
Internship
Official Employee
Mitsubishi
Electric
Appearance-based
Recognition
Point Cloud-based
Recognition
System, Gripper,
and Sensor
中部大学
工学部 ロボット理工学科
宮腰 あゆみ
機械知覚&ロボティクスグループ
487-8501
愛知県春日井市松本町1200
Tel 0568-51-9096
Fax 0568-51-9409
miya@vision.cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
MACHINE PERCEPTION AND ROBOTICS GROUP
Chubu University
Department of Robotics Science and Technology
College of Engineering
Ayumi Miyakoshi
Machine Perception and Robotics Group
1200 Matsumoto-cho, Kasugai, Aichi
487-8501 Japan
Tel +81-568-51-9096
Fax +81-568-51-9409
hf@cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
MACHINE PERCEPTION AND ROBOTICS GROUP
中部大学
工学部 ロボット理工学科
助手
山内 悠嗣
機械知覚&ロボティクスグループ
487-8501
愛知県春日井市松本町1200
Tel 0568-51-8249
Fax 0568-51-9409
yuu@vision.cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
博士(工学)
MACHINE PERCEPTION AND ROBOTICS GROUP
Chubu University
Department of Robotics Science and Technology
College of Engineering
Research Assistant
Dr.Eng.
Yuji Yamauchi
Machine Perception and Robotics Group
1200 Matsumoto-cho, Kasugai, Aichi
487-8501 Japan
Tel +81-568-51-8249
Fax +81-568-51-9409
yuu@vision.cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
MACHINE PERCEPTION AND ROBOTICS GROUP
中部大学
工学部 情報工学科
講師
山下 隆義
機械知覚&ロボティクスグループ
487-8501
愛知県春日井市松本町1200
Tel 0568-51-9670
Fax 0568-51-1540
yamashita@cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
博士(工学)
MACHINE PERCEPTION AND ROBOTICS GROUP
Chubu University
Department of Computer Science
College of Engineering
Lecturer
Dr.Eng.
Takayoshi Yamashita
Machine Perception and Robotics Group
1200 Matsumoto-cho, Kasugai, Aichi
487-8501 Japan
Tel +81-568-51-9670
Fax +81-568-51-1540
yamashita@cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
MACHINE PERCEPTION AND ROBOTICS GROUP
中部大学
工学部 ロボット理工学科
教授
藤吉 弘亘
機械知覚&ロボティクスグループ
487-8501
愛知県春日井市松本町1200
Tel 0568-51-9096
Fax 0568-51-9409
hf@cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
博士(工学)
MACHINE PERCEPTION AND ROBOTICS GROUP
Chubu University
Department of Robotics Science and Technology
College of Engineering
Professor
Dr.Eng.
Hironobu Fujiyoshi
Machine Perception and Robotics Group
1200 Matsumoto-cho, Kasugai, Aichi
487-8501 Japan
Tel +81-568-51-9096
Fax +81-568-51-9409
hf@cs.chubu.ac.jp
http://vision.cs.chubu.ac.jp
MACHINE PERCEPTION AND ROBOTICS GROUP
16. 物体らしさを導⼊したSSD
Default boxes generator
(6 boxes)
5 x 5 x 6 = 150 default boxes Convolutional
item classifier
・・・
#1 default box #2 default box #6 default box
・・・
Softmax
・・・
Tissue Box = 0.02
Robots Book = 0.02
Balloons = 0.91
Crayons = 0.03
Others = 0.02
Balloons
Object classification
Convolutional
offset estimator
・・・
#1 default box #2 default box #6 default box
Offset of box center (x axis)
Offset of box center (y axis)
Offset of box width
Offset of box height
Box localization
Convolutional
objectness classifier
・・・
#1 default box #2 default box #6 default box
Softmax
Box detection
Object = 0.89
Non-object = 0.11
VGG Net conv
From :conv5_1
To :fc7
Add conv
From :conv6_1
To :conv6_2
Add conv
From :conv7_1
To :conv7_2
Add conv
From :conv8_1
To :conv8_2
Add conv
From :conv9_1
To :conv9_2
VGG Net conv
From :conv1_1
To :conv4_3
VGG Net conv
From :conv1_1
To :conv4_3
VGG Net conv
From :conv5_1
To :fc7
Add conv
From :conv6_1
To :conv6_2
Add conv
From :conv7_1
To :conv7_2
Add conv
From :conv8_1
To :conv8_2
Add conv
From :conv9_1
To :conv9_2
#4 branched layers