• Smart Media Journal
• /
• v.12 no.10
• /
• pp.19-28
• /
• 2023

In the fruit harvesting field, interest in automatic robot harvesting is increasing due to various seasonality and rising harvesting costs. Accurate apple detection is a difficult problem in complex orchard environments with changes in light, vibrations caused by wind, and occlusion of leaves and branches. In this paper, we introduce a dataset and an adaptive heatmap regression model that are advantageous for robot automatic apple harvesting. The apple dataset was labeled with not only the apple location but also the visibility. We propose a method to detect the center point of an apple using an adaptive heatmap regression model that adjusts the Gaussian shape according to visibility. The experimental results showed that the performance of the proposed method was applicable to apple harvesting robots, with MAP@K of 0.9809 and 0.9801 when K=5 and K=10, respectively.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2022.07a
• /
• pp.35-36
• /
• 2022

본 논문은 딥러닝 사람 자세 추정 모델이 사람의 관절 키포인트를 예측하는데 관절의 2차원 면적에 의해 키포인트별 𝜎, 즉, 표준 편차를 가지는 가우시안 커널(Gaussian Kernel)을 예측하는 방법을 제안한다. 각 관절 키포인트에 대해 다른 𝜎를 가지는 정답 히트맵(Ground Truth Heatmap)과 제안한 Gaussian Mixture Block를 모델에 추가해서 관절의 크기를 맞는 히트맵을 예측한다.