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Object Detection Using Depth and Color Images

The document discusses using depth and color images for object detection. It explores two approaches: 1) Training separate models on each image type and combining them, which failed. 2) Training a neural network on RGB images and HHA depth images separately then combining, which showed better results. The goal is detecting a custom object (camera) using both image types. Future work includes better integrating depth and color images to improve accuracy for real-world use.

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Aadith Thillai Arasu S
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36 views

Object Detection Using Depth and Color Images

The document discusses using depth and color images for object detection. It explores two approaches: 1) Training separate models on each image type and combining them, which failed. 2) Training a neural network on RGB images and HHA depth images separately then combining, which showed better results. The goal is detecting a custom object (camera) using both image types. Future work includes better integrating depth and color images to improve accuracy for real-world use.

Uploaded by

Aadith Thillai Arasu S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Object Detection Using

Depth and Color Images


Team: CrazyOnes
Problem
● As use of depth sensors has increased widely due to the application in
various gaming consoles and autonomous car, it is important to understand
the use of depth data.
● Depth data helps in getting perspective about relative distances between
objects present in the image along with adding one extra dimension to the
available information.
● We are analysing how this depth data can be used for increasing the
accuracy of existing object detection models using machine and deep
learning.
Existing Object Detection
● Mask R-CNN - Detection with Segmentation
● YOLOv2 - Faster and Stronger
● MobileNet by Google - Lightweight

Although this models provide state-of-the-art accuracy


with speed on real-world scenarios:

● Accuracy for pre-trained objects is hard to achieve


on custom objects.
● No use of depth sensors information
● Object View matters a lot...
Approach 1
● We have 2 images for 1 particular scene, let’s train them separately. Then
combine the models to achieve a better accuracy in detection.

● Used YOLO-v3 for default object detection for both the images but...
Approach 1

This approach fails miserably as YOLO fails to extract any information from the
depth image of data. Faster R-CNN also fails on this depth images taken from the
NYU Depth Dataset V2.
Approach 2
● Train neural network on RGB image as well as separately on HHA format of
the depth image

Depth Image HHA Image


Hackathon Goal
● Training our Model on one custom object using RGB and depth images and
then detecting it in test images with both the types of data
● Selected Object: Camera
Training Dataset
● Open Images Dataset V4 + by Google contaning 600 categories
● Microsoft Kinect RGB-D dataset
● Sample:
Architecture
Demonstration
Future Work
● Integrating HHA image with the RGB one for better model accuracy
● Use of fine-tuned YOLO so that it can be used in real-world live scenarios
Thank You

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