Object Detection for Sweeping Robots in Home Scenes (ODSR-IHS): A Novel Benchmark Dataset

Abstract

Object detection plays an important role in computer vision. It has a variety of applications, including security detection, vehicle recognition, and service robots. With the continuous improvement of public databases and the development of deep learning, object detection has witnessed significant breakthroughs. However, the object detection of sweeping robots during operations should consider various factors, including the camera angle, indoor scenery, and identification of object category. To the best of our knowledge, no corresponding database on these conditions has been developed. In this study, we review the development of object detection based on deep learning in computer vision. Then, we propose a large-scale publicly available benchmark dataset called object detection for sweeping robots in home scenes (ODSR-IHS). The dataset has 6,000 images and 16,409 instances of 14 object categories. Finally, we evaluate several state-of-the-art methods on the ODSR-IHS dataset and transplant them to the hardware to establish a benchmark dataset for object recognition research on sweeping robots.

Keywords

• Benchmark dataset
• deep learning
• sweeping robot
• object detection