物体間相互損失を用いた選択的インスタンスセグメンテーション

抄録

We have developed a new loss function focusing on grasping product to automate the display of products by robots. When robots grasp product, it is required to select a grasp product from several products and detect it accurately. In recently years, object detection methods using deep neural network(DNN) has become more common. But even the latest DNN often does not recognize the boundaries of adjacent objects. So, the DNN erroneously detects two products as one product. We address the new problem of correctly detecting adjacent products. To solve the problem, we focus on the fact that the robot grasps only one product at a time, and have developed a new loss function called “mutual loss”. The mutual loss is larger when the DNN erroneously detects adjacent products as one product, so that the DNN correctly detects the products to be selected. Experiments on the OCID dataset showed that IoU of detected object and grasping success rate improved by 6.6pts and 5.8pts, respectively, when DNN uses our mutual loss.