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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">novtexmech</journal-id><journal-title-group><journal-title xml:lang="ru">Мехатроника, автоматизация, управление</journal-title><trans-title-group xml:lang="en"><trans-title>Mekhatronika, Avtomatizatsiya, Upravlenie</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">1684-6427</issn><issn pub-type="epub">2619-1253</issn><publisher><publisher-name>Commercial Publisher «New Technologies»</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.17587/mau/17.187-192</article-id><article-id custom-type="elpub" pub-id-type="custom">novtexmech-269</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫ</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="en"><subject>ROBOTIC SYSTEMS</subject></subj-group></article-categories><title-group><article-title>Структурное детектирование зрительных образов для мобильного робота</article-title><trans-title-group xml:lang="en"><trans-title>Structural Detection of Visual Objects for Mobile Robots</trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Сергиевский</surname><given-names>Н. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Sergievskiy</surname><given-names>N. A.</given-names></name></name-alternatives><email xlink:type="simple">dereyly@gmail.com</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Харламов</surname><given-names>А. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Kharlamov</surname><given-names>A. A.</given-names></name></name-alternatives><email xlink:type="simple">kharlamov@analyst.ru</email><xref ref-type="aff" rid="aff-2"/></contrib></contrib-group><aff-alternatives id="aff-1"><aff xml:lang="ru"><institution>"Элвис-Неотек"</institution><country>Россия</country></aff><aff xml:lang="en"><institution>ELVEES-NeoTek</institution><country>Russian Federation</country></aff></aff-alternatives><aff-alternatives id="aff-2"><aff xml:lang="ru"><institution>ООО "Микросистемы"</institution><country>Россия</country></aff><aff xml:lang="en"><institution>Institute of Higher Nervous Activity and Neurophysiology of the Russian Academy of Sciences (IHNA&amp;N RAS); Moscow State Linguistics University</institution><country>Russian Federation</country></aff></aff-alternatives><pub-date pub-type="collection"><year>2016</year></pub-date><pub-date pub-type="epub"><day>28</day><month>08</month><year>2018</year></pub-date><volume>17</volume><issue>3</issue><fpage>187</fpage><lpage>192</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Commercial Publisher «New Technologies», 2018</copyright-statement><copyright-year>2018</copyright-year><copyright-holder xml:lang="ru">Commercial Publisher «New Technologies»</copyright-holder><copyright-holder xml:lang="en">Commercial Publisher «New Technologies»</copyright-holder><license xlink:href="https://mech.novtex.ru/jour/about/submissions#copyrightNotice" xlink:type="simple"><license-p>https://mech.novtex.ru/jour/about/submissions#copyrightNotice</license-p></license></permissions><self-uri xlink:href="https://mech.novtex.ru/jour/article/view/269">https://mech.novtex.ru/jour/article/view/269</self-uri><abstract><p>Описывается подход к детектированию объектов в реальном масштабе времени. Процесс детектирования объектов разделен на две части: (1) генерация гипотез и (2) проверка гипотез. Генерация гипотез осуществляется с помощью простой структурной модели на основе комбинации отрезков. Проверка гипотез использует подход на основе сверточных сетей, которые формируют вектор признаков на основе адаптивной подвыборки последнего сверточного слоя. Далее признаки классифицируются алгоритмом "случайный лес". Точность данного подхода сопоставима с современными методами детектирования объектов, такими как SPPNet и RCNN, а время работы составляет 4 кадра в секунду на процессоре, что в 7раз быстрее SPPNet.</p></abstract><trans-abstract xml:lang="en"><p>This paper presents StructDetect, a fast method for object detection. The target detection process consists of two stages: generation of a hypothesis (object proposals) (1) and verification of the hypothesis (2). Generation of the object proposals is carried out by means of a simple structural model on the basis of line segment combining. Line segment is detected by EdLines algorithm. Then a computer attributes the line segments and their pairs and creates "a connection table", which filters some combinations. Further, it creates a triple combination of the line segments filtered by "the connection table". Each combination has a handcraft descriptor based on the line segment attribute. This descriptor is used to learn kNN classifier and generate object proposals in the area of 3 line segments. These proposals define a set of candidate bounding boxes available to the detector. The second module is based on a convolutional neural network, which takes a fixed-length feature vector from each region. The convolution neural network computes once per image and features vector extracts with adaptively-sized pooling from the last convolution layer. Then the feature vectors are classified by the random forest algorithm. Accuracy of this approach is comparable with the accuracy of such modern detector methods as SPPNet and RCNN. StructDetect is 7 times faster than SPPNet and has a frame rate of 4fps on a CPU.</p></trans-abstract><kwd-group xml:lang="ru"><kwd>детектирование объектов</kwd><kwd>компьютерное зрение</kwd><kwd>зрение роботов</kwd><kwd>нейронные сети</kwd><kwd>глубокое обучение</kwd><kwd>случайный лес</kwd><kwd>object detection</kwd><kwd>object proposals</kwd><kwd>computer vision</kwd><kwd>robot vision</kwd><kwd>deep learning</kwd><kwd>random forest</kwd></kwd-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Girshick, Ross Brook. From rigid templates to grammars: Object detection with structured models. University of Chicago, 2012.</mixed-citation><mixed-citation xml:lang="en">Girshick, Ross Brook. 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