# CNN-based Omnidirectional Object Detection for HermesBot Autonomous Delivery Robot with Preliminary Frame Classification

arXiv: https://arxiv.org/abs/2110.11829 · HTML: https://mlsanity.com/paper/2110.11829/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 28 references that are in the map.
- First posted on arXiv 22 Oct 2021.

## Builds on (most cited first, 14 of 14)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [MnasNet: Platform-Aware Neural Architecture Search for Mobile](https://mlsanity.com/paper/1807.11626/) (2018)
- [R-FCN: Object Detection via Region-based Fully Convolutional Networks](https://mlsanity.com/paper/1605.06409/) (2016)
- [Speed/accuracy trade-offs for modern convolutional object detectors](https://mlsanity.com/paper/1611.10012/) (2016)
- [Learning non-maximum suppression](https://mlsanity.com/paper/1705.02950/) (2017)
- [WareVR: Virtual Reality Interface for Supervision of Autonomous Robotic System Aimed at Warehouse Stocktaking](https://mlsanity.com/paper/2110.11052/) (2021)
- [DeltaCharger: Charging Robot with Inverted Delta Mechanism and CNN-driven High Fidelity Tactile Perception for Precise 3D Positioning](https://mlsanity.com/paper/2107.10710/) (2021)
- [UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection with Non-trivial Shape of Disinfection Zone](https://mlsanity.com/paper/2108.09792/) (2021)

## Built on by (most cited first, 2 of 2)

- [POA: Passable Obstacles Aware Path-planning Algorithm for Navigation of a Two-wheeled Robot in Highly Cluttered Environments](https://mlsanity.com/paper/2307.08141/) (2023)
- [LocoNeRF: A NeRF-based Approach for Local Structure from Motion for Precise Localization](https://mlsanity.com/paper/2310.05134/) (2023)

## Abstract (arXiv)

Mobile autonomous robots include numerous sensors for environment perception. Cameras are an essential tool for robot's localization, navigation, and obstacle avoidance. To process a large flow of data from the sensors, it is necessary to optimize algorithms, or to utilize substantial computational power. In our work, we propose an algorithm for optimizing a neural network for object detection using preliminary binary frame classification. An autonomous outdoor mobile robot with 6 rolling-shutter cameras on the perimeter providing a 360-degree field of view was used as the experimental setup. The obtained experimental results revealed that the proposed optimization accelerates the inference time of the neural network in the cases with up to 5 out of 6 cameras containing target objects.