fan Liu, Pengyuan Liu, Junning Zhang, Binbin Xu. Joint Detection of RGB-D Images Based on Double Flow Convolutional Neural Network[J]. Laser & Optoelectronics Progress, 2018, 55(2): 021503
- Laser & Optoelectronics Progress
- Vol. 55, Issue 2, 021503 (2018)
Fig. 1. Convolution neural network structure
Fig. 2. Basic model of neuron
Fig. 3. Image convolution process
Fig. 4. Average pooling operation
Fig. 5. Backward propagation model
Fig. 6. Early fusion structure
Fig. 7. Late fusion structure
Fig. 8. Full connection layer fusion structure
Fig. 9. Convolution layer fusion structure
Fig. 10. Change curves of center position error and training loss function with the training steps
Fig. 11. Detection results at different algorithms. (a) Detection based on RGB images; (b) joint detection of RGB-D based on late fusion; (c) joint detection of RGB-D based on convolution layer fusion
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Table 1. Fusion weight of different detection objects
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Table 2. Detection results by different methods
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