CN115104132B - 用于评价图像分类器的方法和装置 - Google Patents

用于评价图像分类器的方法和装置

Info

Publication number
CN115104132B
CN115104132B CN202180014940.4A CN202180014940A CN115104132B CN 115104132 B CN115104132 B CN 115104132B CN 202180014940 A CN202180014940 A CN 202180014940A CN 115104132 B CN115104132 B CN 115104132B
Authority
CN
China
Prior art keywords
image
classifier
robot
image classifier
image data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202180014940.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN115104132A (zh
Inventor
M·利特尔
J·奥勒金
C·格拉迪施
K·格劳
O·维勒尔斯
S·苏德霍尔特
M·沃尔勒
C·海因茨曼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN115104132A publication Critical patent/CN115104132A/zh
Application granted granted Critical
Publication of CN115104132B publication Critical patent/CN115104132B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/217—Validation; Performance evaluation; Active pattern learning techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/28—Determining representative reference patterns, e.g. by averaging or distorting; Generating dictionaries
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/774—Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
    • G06V10/7747—Organisation of the process, e.g. bagging or boosting
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/776—Validation; Performance evaluation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Data Mining & Analysis (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Biology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Robotics (AREA)
  • Image Analysis (AREA)
CN202180014940.4A 2020-02-17 2021-02-08 用于评价图像分类器的方法和装置 Active CN115104132B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102020201939.8 2020-02-17
DE102020201939.8A DE102020201939A1 (de) 2020-02-17 2020-02-17 Verfahren und Vorrichtung zur Bewertung eines Bildklassifikators
PCT/EP2021/052931 WO2021165077A1 (de) 2020-02-17 2021-02-08 Verfahren und vorrichtung zur bewertung eines bildklassifikators

Publications (2)

Publication Number Publication Date
CN115104132A CN115104132A (zh) 2022-09-23
CN115104132B true CN115104132B (zh) 2025-09-12

Family

ID=74572774

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180014940.4A Active CN115104132B (zh) 2020-02-17 2021-02-08 用于评价图像分类器的方法和装置

Country Status (5)

Country Link
US (1) US12462574B2 (https=)
JP (1) JP7473663B2 (https=)
CN (1) CN115104132B (https=)
DE (1) DE102020201939A1 (https=)
WO (1) WO2021165077A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114973056B (zh) * 2022-03-28 2023-04-18 华中农业大学 基于信息密度的快速视频图像分割标注方法
DE102022113259B3 (de) * 2022-05-25 2023-06-22 Sick Ag Verfahren und Vorrichtung zur Erfassung von Stammdaten eines Objekts
US20240119274A1 (en) * 2022-09-23 2024-04-11 International Business Machines Corporation Training neural networks with convergence to a global minimum
US12613510B2 (en) * 2023-01-24 2026-04-28 Gdm Holding Llc On-robot data collection
CN116188449B (zh) * 2023-03-13 2023-08-08 哈尔滨市科佳通用机电股份有限公司 铁路货车缓解阀拉杆开口销丢失故障识别方法及设备

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011517632A (ja) * 2008-02-20 2011-06-16 コンチネンタル・テーヴエス・アクチエンゲゼルシヤフト・ウント・コンパニー・オツフエネハンデルスゲゼルシヤフト 車両の周辺にある物体を検出する方法及び援助システム
JP2009282760A (ja) 2008-05-22 2009-12-03 Toyota Motor Corp 車両制御装置
US9122958B1 (en) 2014-02-14 2015-09-01 Social Sweepster, LLC Object recognition or detection based on verification tests
US9704043B2 (en) 2014-12-16 2017-07-11 Irobot Corporation Systems and methods for capturing images and annotating the captured images with information
US11854308B1 (en) * 2016-02-17 2023-12-26 Ultrahaptics IP Two Limited Hand initialization for machine learning based gesture recognition
US11841920B1 (en) * 2016-02-17 2023-12-12 Ultrahaptics IP Two Limited Machine learning based gesture recognition
CN106845374B (zh) * 2017-01-06 2020-03-27 清华大学 基于深度学习的行人检测方法及检测装置
US11348269B1 (en) * 2017-07-27 2022-05-31 AI Incorporated Method and apparatus for combining data to construct a floor plan
WO2019113510A1 (en) * 2017-12-07 2019-06-13 Bluhaptics, Inc. Techniques for training machine learning
US20190205744A1 (en) * 2017-12-29 2019-07-04 Micron Technology, Inc. Distributed Architecture for Enhancing Artificial Neural Network
US11173605B2 (en) * 2018-02-26 2021-11-16 dogugonggan Co., Ltd. Method of controlling mobile robot, apparatus for supporting the method, and delivery system using mobile robot
DE102019202090A1 (de) * 2018-03-14 2019-09-19 Robert Bosch Gmbh Verfahren zum Erzeugen eines Trainingsdatensatzes zum Trainieren eines Künstlichen-Intelligenz-Moduls für eine Steuervorrichtung eines Roboters
CN110494863B (zh) 2018-03-15 2024-02-09 辉达公司 确定自主车辆的可驾驶自由空间
US10725475B2 (en) * 2018-04-09 2020-07-28 Toyota Jidosha Kabushiki Kaisha Machine learning enhanced vehicle merging
EP3797339B1 (en) * 2018-05-22 2025-03-12 Starship Technologies OÜ Method and system for automatic autonomous road crossing
US11875012B2 (en) * 2018-05-25 2024-01-16 Ultrahaptics IP Two Limited Throwable interface for augmented reality and virtual reality environments
US10937173B2 (en) * 2018-11-15 2021-03-02 Qualcomm Incorporated Predicting subject body poses and subject movement intent using probabilistic generative models
US11397272B2 (en) * 2018-12-11 2022-07-26 Exxonmobil Upstream Research Company Data augmentation for seismic interpretation systems and methods
US11922323B2 (en) * 2019-01-17 2024-03-05 Salesforce, Inc. Meta-reinforcement learning gradient estimation with variance reduction
GB201906234D0 (en) * 2019-05-03 2019-06-19 Microsoft Technology Licensing Llc An interpretable neural network
DE102019210507A1 (de) * 2019-07-16 2021-01-21 Robert Bosch Gmbh Vorrichtung und computerimplementiertes Verfahren für die Verarbeitung digitaler Sensordaten und Trainingsverfahren dafür
US11126855B2 (en) * 2019-08-08 2021-09-21 Robert Bosch Gmbh Artificial-intelligence powered ground truth generation for object detection and tracking on image sequences
EP3923192A1 (en) * 2020-06-12 2021-12-15 Robert Bosch GmbH Device and method for training and testing a classifier
GB2598761A (en) * 2020-09-11 2022-03-16 Nokia Technologies Oy Domain adaptation
US12148194B2 (en) * 2020-09-14 2024-11-19 Intelligent Fusion Technology, Inc. Method, device, and storage medium for targeted adversarial discriminative domain adaptation
US20220308592A1 (en) * 2021-03-26 2022-09-29 Ohmnilabs, Inc. Vision-based obstacle detection for autonomous mobile robots
EP4105839B1 (en) * 2021-06-16 2025-05-28 Robert Bosch GmbH Device and method to adapt a pretrained machine learning system to target data that has different distribution than the training data without the necessity of human annotations on target data

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
《Are all objects equal? Deep soatio-temporal importance prediction in driving videos》;Eshed Ohn-Bar, et al;《PATTERN RECOGNITION》;20160930;参见摘要、第1-5章 *

Also Published As

Publication number Publication date
WO2021165077A1 (de) 2021-08-26
DE102020201939A1 (de) 2021-08-19
JP7473663B2 (ja) 2024-04-23
CN115104132A (zh) 2022-09-23
US12462574B2 (en) 2025-11-04
US20230038337A1 (en) 2023-02-09
JP2023513385A (ja) 2023-03-30

Similar Documents

Publication Publication Date Title
CN115104132B (zh) 用于评价图像分类器的方法和装置
US11810365B1 (en) Perception error modeling
US12559132B2 (en) Method and system for conditional operation of an autonomous agent
EP3405845B1 (en) Object-focused active three-dimensional reconstruction
EP3234839B1 (en) Systems and methods for capturing images and annotating the captured images with information
Bagnell et al. Learning for autonomous navigation
JP6747044B2 (ja) 走行経路生成装置、モデル学習装置、及びプログラム
CN114206698A (zh) 在具有动态障碍物的环境中促进运动规划的装置、方法和物品
EP4145398A1 (en) Systems and methods for vehicle camera obstruction detection
EP3913527B1 (en) Method and device for performing behavior prediction by using explainable self-focused attention
CN112241757A (zh) 用于操作神经网络的设备和方法
CN119973981A (zh) 使用高级策略模型和经训练的低级策略模型的机器人导航
EP4009228B1 (en) Method for determining a semantic free space
CN116523952A (zh) 利用2d和3d逐点特征估计6d目标姿态
CN117555333A (zh) 一种动态行进轨迹的处理系统及方法
Kuan et al. Pothole detection and avoidance via deep learning on edge devices
CN118633110A (zh) 用于离线感知部件评估的工具
US12046013B2 (en) Using relevance of objects to assess performance of an autonomous vehicle perception system
JP7638736B2 (ja) ニューロンネットワークを訓練するためのデバイスおよび方法
JP2021197184A (ja) 分類器を訓練及びテストするためのデバイス及び方法
US20220382284A1 (en) Perception system for assessing relevance of objects in an environment of an autonomous vehicle
Roomi et al. Hand gesture recognition system using transfer learning
CN119274167A (zh) 一种基于时空融合的多模态自动驾驶三维目标跟踪方法
Dangi et al. Free space and lane boundary fault recognition and prediction for independent vehicles using machine learning
CN118155186A (zh) 行人横穿意图预测方法、装置、系统及存储介质

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant