Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable mobile robots more complex interactions and a facilitated communication with humans. Prerequisites are the vision-based registration of semantic objects and humans, where the latter are further analyzed for potential interaction partners. Despite significant research achievements, the reliable and fast registration of semantic information still remains a challenging task for mobile robots in real-world scenarios. In this paper, we present a vision-based system for mobile assistive robots to enable a semantic-aware environment perception without additional a-priori knowledge. We deploy our system on a mobile humanoid robot that enables us to test our methods in real-world applications.

在本文中，我们专注于改进二进制2D实例细分，以帮助人类用多边形标记地面真相数据集。人类的标签只需要在物体周围绘制盒子，然后自动生成多边形。为了有用，我们的系统必须实时运行CPU。二进制实例细分的最常见方法涉及编码器折叠网络。本报告评估了最先进的编码器 - 码头网络，并提出了一种使用这些网络改善实例分割质量的方法。除了网络体系结构的改进之外，我们提出的方法还依靠为网络输入，所谓的极端点（即对象轮廓上的最外部点）提供额外的信息。用户可以几乎尽快给它们标记它们，而不是边界框。边界框也可以从极端点推导。与其他最先进的编码器网络相比，此方法可产生更好的IOU，并且在将其部署在CPU上时也足够快。