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Detection of Grasping Position from Video Images Based on SSD
Taichi Kitayama,Huimin Lu,Yujie Li,Hyoungseop Kim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Recently, consistent container transportation of roads and ships is mainstream of international freight transport. Because of various factors, automation of cargo handling work is required at the container terminal. Various causes are decrement of future labor force population by an increasing trend of container moving amount and declining birthrate and aging population. Therefore, this study presents the relative position of hanger and container measurement technology using Single Shot Multibox Detector (SSD) for the purpose of improvement of cargo handling work efficiency and unmanned container terminal. In the case of undetected by SSD, it will be detected using AKAZE feature. The proposed method is applied to 368 images of container gripping taken by a camera installed in a container crane. As a result, Interaction of Union (IoU) targeted for container gripping is 87.79%, and a detection rate is 94.57%.