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Changed to 2D data and specified SSD as detection network

Jim Martens
2019-02-04 13:55:11 +01:00
parent e978c9a708
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General Idea of the Thesis: General Idea of the Thesis:
1. Realistic scene with objects of YCB Video data set (self recorded or from data set). 1. Realistic scene with objects of YCB Video data set (self recorded or from data set).
2. Retrieve point cloud from scene. 2. Retrieve 2D data from scene.
3. Segment point cloud into separate areas for objects. 3. Segment point cloud into separate areas for objects.
4. a) Feed neural network with 3D data for object. Classify object and calculate classification loss (cross entropy loss). 4. a) Feed SSD with 2D data for object. Classify object and calculate classification loss (cross entropy loss).
b) Feed autoencoder with 3D data for object. Calculate encoding loss. b) Feed autoencoder with 2D data for object. Calculate encoding/decoding loss.
5. In testing phase the encoding loss tells us if an object is unknown. 5. In testing phase the encoding/decoding loss tells us if an object is unknown.