Abstract
In the field of industrial, robots are becoming a modern method to perform automatic washing on large industrial components while detecting dirt. Therefore, the detection and segmentation of dirt have a great impact on optimizing the effects and improving quality of washing by modern washing robots. We propose DDSN (Dirt Detection and Segmentation Network) in this paper which improves the SVDD (Support Vector Data Description), using neural networks to obtain the optimal kernel function of SVDD, so that training images with no dirt can be mapped to the smallest hypersphere in the feature space. In dirt detection and segmentation, the distance between the test images and the centers of the corresponding hypersphere is defined as the feature value, and the dirt scores of the pixels can be obtained. Before training of dirt dataset, we use a larger anomaly detection dataset named MVTecAD which is also the one-class classification to pretrain the feature extraction network, which makes up for the lack of samples in the dirt dataset and speeds up the convergence of the model. Afterwards, we transfer the feature extraction network to training the dirt dataset of large industrial components. The results show that the methods proposed in this paper performs well in detection and segmentation of both MVTecAD dataset and dirt dataset of large industrial components.
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Guan, S., Peng, G. (2022). Dirt Detection and Segmentation Network for Autonomous Washing Robots. In: Yu, S., et al. Pattern Recognition and Computer Vision. PRCV 2022. Lecture Notes in Computer Science, vol 13536. Springer, Cham. https://doi.org/10.1007/978-3-031-18913-5_53
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