PicPose: Using Picture Posing for Localization Service on IoT Devices
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19,543 citations
"PicPose: Using Picture Posing for L..." refers background or methods in this paper
...In PicPose, an object detection architecture based on the deep neural network Single Shot MultiBox Detector (SSD) [3] is employed for the detection purpose....
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...Another issue of using SSD in the first step of realtime localization is the object detection speed....
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...The total processing time is longer due to the picture object detection overhead on streaming videos using SSD [3], but still within an acceptable range ( 100ms) to support real-time robot localization....
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...The deep learning framework we use for training is Caffe, in which the MobileNets-SSD is implemented with pre-trained weights model on VOC0712....
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...At runtime when a camera sends in a picture, the captured object ID produced by the SSD detector is used to retrieve the feature points from the ground truth library....
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14,406 citations
"PicPose: Using Picture Posing for L..." refers methods in this paper
...To provide the localization service in real time, a lightweight neural network model called MobileNets [19], which is based on a streamlined architecture using separable convolutions to build lightweight deep neural networks, is used as the base detector network in SSD....
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...The deep learning framework we use for training is Caffe, in which the MobileNets-SSD is implemented with pre-trained weights model on VOC0712....
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12,678 citations
8,702 citations
"PicPose: Using Picture Posing for L..." refers methods in this paper
...Meanwhile, the feature points of the captured picture are extracted by ORB using the same configuration and parameters as those used for building the ground truth library....
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...Our internal feature point extraction model is based on the Oriented FAST and Rotated BRIEF (ORB) [20] feature detector....
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...First, the features of original pictures can be extracted offline and stored in an ORB ground truth library....
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...However, the position of a feature point is determined prior to its descriptor calculation in ORB; it is difficult to guarantee the uniqueness and particularity in a picture, especially within a small area containing similar feature points....
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...Each feature point records its coordinate in the picture and an ORB feature descriptor....
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5,978 citations
"PicPose: Using Picture Posing for L..." refers methods in this paper
...Another recent active area is DNN (Deep Neural Network), which has been used to detect objects [17], [18] to enhance the detection precision....
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