In a visual-based real detection system using computer vision, the most important thing that must be considered is the computation time. In general, a detection system has a heavy algorithm that puts a strain on the performance of a computer system, especially if the computer has to handle two or more different detection processes. This paper presents an effort to improve the performance of the trash detection system and the target partner detection system of a trash bin robot with social interaction capabilities. The trash detection system uses a combination of the Haar Cascade algorithm, Histogram of Oriented Gradient (HOG) and Gray-Level Coocurrence Matrix (GLCM). Meanwhile, the target partner detection system uses a combination of Depth and Histogram of Oriented Gradient (HOG) algorithms. Robotic Operating System (ROS) is used to make each system in separate modules which aim to utilize all available computer system resources while reducing computation time. As a result, the performance obtained by using the ROS platform is a trash detection system capable of running at a speed of 7.003 fps. Meanwhile, the human target detection system is capable of running at a speed of 8,515 fps. In line with the increase in fps, the accuracy also increases to 77%, precision increases to 87,80%, recall increases to 82,75%, and F1-score increases to 85,20% in trash detection, and the human target detection system has also improved accuracy to 81%, %, precision increases to 91,46%, recall increases to 86,20%, and F1-score increases to 88,42%.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Improved Performance of Trash Detection and Human Target Detection Systems using Robot Operating System (ROS)



    Erscheinungsdatum :

    2021-06-30


    Anmerkungen:

    doi:10.17529/jre.v17i2.20805
    Jurnal Rekayasa Elektrika; Vol 17, No 2 (2021) ; 2252-620X ; 1412-4785



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    006 / 629



    Stain and trash detection systems and methods

    SHANT TOKATYAN | Europäisches Patentamt | 2019

    Freier Zugriff

    Vehicle stain and trash detection systems and methods

    SHANT TOKATYAN | Europäisches Patentamt | 2019

    Freier Zugriff

    Ship bottom trash cleaning robot

    LIAO ZHIHAO / SHEN YONGCEN / YAN YIZHU et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Trash can systems

    GISCHEL DORIS | Europäisches Patentamt | 2015

    Freier Zugriff

    Swimming pool diving-surfacing trash-cleaning robot

    NAN FANG | Europäisches Patentamt | 2020

    Freier Zugriff