YOLO-GD: A Deep Learning-Based Object Detection Algorithm for Empty-Dish Recycling Robots
TL;DR: A deep learning-based object detection algorithm for empty-dish recycling robots to automatically recycle dishes in restaurants and canteens, etc, using a lightweight object detection model YOLO-GD.
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Abstract: Due to the workforce shortage caused by the declining birth rate and aging population, robotics is one of the solutions to replace humans and overcome this urgent problem. This paper introduces a deep learning-based object detection algorithm for empty-dish recycling robots to automatically recycle dishes in restaurants and canteens, etc. In detail, a lightweight object detection model YOLO-GD (Ghost Net and Depthwise convolution) is proposed for detecting dishes in images such as cups, chopsticks, bowls, towels, etc., and an image processing-based catch point calculation is designed for extracting the catch point coordinates of the different-type dishes. The coordinates are used to recycle the target dishes by controlling the robot arm. Jetson Nano is equipped on the robot as a computer module, and the YOLO-GD model is also quantized by TensorRT for improving the performance. The experimental results demonstrate that the YOLO-GD model is only 1/5 size of the state-of-the-art model YOLOv4, and the mAP of YOLO-GD achieves 97.38%, 3.41% higher than YOLOv4. After quantization, the YOLO-GD model decreases the inference time per image from 207.92 ms to 32.75 ms, and the mAP is 97.42%, which is slightly higher than the model without quantization. Through the proposed image processing method, the catch points of various types of dishes are effectively extracted. The functions of empty-dish recycling are realized and will lead to further development toward practical use.
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An Ultralightweight Object Detection Network for Empty-Dish Recycling Robots
TL;DR: YOLO-GS as discussed by the authors uses the modified CSPDarknet as the backbone structure and design an ultralightweight neck structure for efficient feature fusion, which achieves 99.380% mean average precision (mAP) with a parameter amount of 0.606 M. The inference speed of the TensorRT-optimized YOLOGS algorithm reaches 31.371 FPS, which meets the needs of real-time dish detection by the empty-dish recycling robot.
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