Recognize highly similar sewing gestures by the robot

Abstract

The autonomous and efficient learning of sewing gestures by robots will bring great convenience to the garment industry. To improve the accuracy of robots in detecting sewing gestures with high similarity, three detection models based on deep learning are proposed in the paper. First, in order to improve the detection accuracy and detection speed of sewing gestures under complex backgrounds, we added a dense connection layer to the low-resolution network layer of YOLO-V3 to enhance the transmission and reuse rate of image features. Secondly, a deeper ResNet50 residual network is introduced to replace the VGG16 basic network in the original SSD model. The feature pyramid structure is used to fuse high-level semantic features and low-level semantic features, which can improve the detection accuracy of small-sized sewing gestures. Finally, the parallel spatial-temporal dual-stream network separately extracts the temporal feature and the spatial feature of sewing gestures. The fusion of time feature and space feature improves the detection accuracy of the coherent sewing gesture. The results show that the suggested three models can effectively detect four sewing gestures with high similarity. Among them, the spatial-temporal two-stream convolutional neural network has the highest detection accuracy. The improved SSD model has faster detection speed than the improved YOLO-V3 model and other mainstream algorithms.