WP: OBJECT RECOGNITION

FOR NAVIGATION
MID-TERM PRESENTATION
PLANETARY EXPLORATION AND ROBOTICS I
DAVID BENAVIDES
MSE WS 2019

17/12/2019
 AGENDA

• Theoretical background (Investigation so far)

• First hands-on trials & Results
• Next steps

D. Benavides Object recognition for navigation WS 2019

 THEORETICAL BACKGROUND
• Object recognition Object detection
An object recognition An object detection
algorithm identifies which algorithm not only tells you
objects are present in an which objects are present in
image. It takes the entire the image, it also outputs
image as an input and bounding boxes (x, y, width,
outputs class labels and height) to indicate the
class probabilities of location of the objects inside
objects present in that the image. [3]
image [1]. [2]

Image classification Object Localization

Predict the type or class of an
object in an image.
Input: An image with a single
object, such as a photograph.
[4]
Output: A class label
D. Benavides Object recognition for navigation
Locate the presence of objects in an image and indicate their
location with a bounding box.
Input: An image with one or more objects, such as a photograph.
Output: One or more bounding boxes (e.g. defined by a point,
[5]
width, and height).
WS 2019
 THEORETICAL BACKGROUND
• Books reviewed

[6] [7]

D. Benavides Object recognition for navigation WS 2019

 HANDS-ON TRIALS & RESULTS

[9]
[8]

Train your first neural network

on a custom image data-set Introduction to the problem of
object recognition and state-of-
the-art deep learning models
designed to address it.

D. Benavides Object recognition for navigation WS 2019

 HANDS-ON TRIALS

R-CNN YOLO (You Only Look Once)


R-CNN

YOLO

Fast R-CNN

YOLO v2

Faster R-CNN

YOLO v3

Introduced in 2013 by Ross Girshick. 
To help increase the speed of deep

R-CNNs are one of the first deep learning-based object detectors, YOLO
learning-based object detectors and are use a one-stage detector strategy
an example of a two-stage detector.

First introduced in 2015 by Joseph

Problem: Speed. R-CNN was incredibly Redmon.
slow, obtaining only 5 FPS on a GPU. [10] 
Real-Time Object Detection, obtaining up
to 30 FPS on a GPU. [11]

D. Benavides Object recognition for navigation WS 2019

 HANDS-ON TRIALS
• Tutorials YOLO
2nd Example

[12]

1st Example

D. Benavides Object recognition for navigation WS 2019

 HANDS-ON TRIALS
• Tutorials YOLO
3rd Example

D. Benavides Object recognition for navigation WS 2019

 HANDS-ON TRIALS
• Tutorials YOLO
4th Example

D. Benavides Object recognition for navigation WS 2019

 NEXT STEPS
• Trials YOLO for real time detection (video).
• Try to adapt YOLO to ERC challenges (own data training, code modification):

Rocks Detection

Landmarks Detection

Persons Detection

D. Benavides Object recognition for navigation WS 2019

Thank you!

Questions?
 REFERENCES
1- https://www.mathworks.com/solutions/image-video-processing/object-recognition.html

3- https://www.mathworks.com/solutions/image-video-processing/object-recognition.html

4- HTTPS://MACHINELEARNINGMASTERY.COM/OBJECT-RECOGNITION-WITH-DEEP-LEARNING/

5- https://machinelearningmastery.com/object-recognition-with-deep-learning/

10- HTTPS://WWW.PYIMAGESEARCH.COM/2018/11/12/YOLO-OBJECT-DETECTION-WITH-OPENCV/

11- HTTPS://WWW.PYIMAGESEARCH.COM/2018/11/12/YOLO-OBJECT-DETECTION-WITH-OPENCV/

D. Benavides Object recognition for navigation WS 2019

 IMAGE REFERENCES
2- https://www.mathworks.com/solutions/image-video-processing/object-recognition.html

6- https://www.oreilly.de

7- HTTPS://WWW.OREILLY.DE

8- https://www.pyimagesearch.com/2018/09/10/keras-tutorial-how-to-get-started-with-keras-deep-learning-and-python/

9- https://machinelearningmastery.com/object-recognition-with-deep-learning/

12- HTTPS://PJREDDIE.COM/DARKNET/YOLO/

D. Benavides Object recognition for navigation WS 2019