DETECTION RESULT ANALYSIS DEVICE, DETECTION RESULT ANALYSIS METHOD, AND COMPUTER READABLE MEDIUM

An evaluation value calculation unit (22) focus on, as a target layer, each of a plurality of layers in an object detection model which detects a target object included in image data and which is constituted using a neural network, and calculates an evaluation value of the target layer from a heat map representing an activeness degree per pixel in the image data obtained from an output result of the target layer, and from a detection region where the target object is detected. A layer selection unit (23) selects at least some layers out of the plurality of layers on a basis of the evaluation value.

TECHNICAL FIELD

The present invention relates to a technique of analyzing a detection result obtained by an object detection model constituted using a neural network.

BACKGROUND ART

Conventionally, a detection result obtained by an object detection model that detects a target object from image data is analyzed to identify learning data lacking in the object detection model (see Patent Literature 1).

When analyzing the detection result, a portion that is a basis of judgment by the object detection model is visualized. As a technique of visualizing the portion that is the basis of judgment, Gradient-weighted Class Action Mapping (GradCAM) is available.

The object detection model includes a 2-stage type model and a 1-stage type model. The 2-stage type model is a model that identifies a target object after narrowing down a Region of Interest (RoI) that indicates a range considered to be the target object. The 1-stage type model is a model that identifies an object and a position of the object by using a set of boundary boxes of particular sizes called anchor boxes.

CITATION LIST

Patent Literature

Patent Literature 1: JP 2019-192082 A

SUMMARY OF INVENTION

Technical Problem

Regarding the 2-stage type model, it is said that a pooling layer after narrowing down the RoI is suitable for visualization using GradCAM. On the other hand, regarding the 1-stage type model, the layer suitable for visualization by GradCAM differs depending on conditions such as a type of a target object and a size of the detected target object.

Even regarding the 2-stage type model, the pooling layer after narrowing down the RoI is not always best suitable for visualization by GradCAM.

An objective of the present disclosure is to make it possible to identify a layer suitable for visualizing a portion that is a basis of judgment by the object detection model.

Solution to Problem

A detection result analysis device according to the present disclosure includes:an evaluation value calculation unit to focus on, as a target layer, each of a plurality of layers in an object detection model which detects a target object included in image data and which is constituted using a neural network, and to calculate an evaluation value of the target layer from a heat map representing an activeness degree per pixel in the image data obtained from an output result of the target layer, and from a detection region where the target object is detected; anda layer selection unit to select at least some layers out of the plurality of layers on a basis of the evaluation value calculated by the evaluation value calculation unit.

The evaluation value calculation unit calculates the evaluation value from a ratio of an activeness degree on an inside of the detection region and an activeness degree on an outside of the detection region, the activeness degree being represented by the heat map.

The evaluation value calculation unit calculates the evaluation value from a proportion of a sum of activeness degrees on the inside of the detection region to a sum of activeness degrees on the outside of the detection region.

The evaluation value calculation unit, if the activeness degree is higher than an activeness threshold value, converts the activeness degree into a conversion activeness degree corresponding to the activeness threshold value, and if the activeness degree is equal to or less than the activeness threshold value, converts the activeness degree into a conversion activeness degree corresponding to an activeness threshold value that is one-level lower than the activeness threshold value; and then calculates the evaluation value.

The layer selection unit selects a criterial number of layers out of layers each having an evaluation value higher than an evaluation threshold value.

The detection result analysis device further includesa synthesis unit to synthesize heat maps about the layers selected by the layer selection unit, thereby generating a synthesis map.

The synthesis unit focuses on each pixel of the image data as a target pixel, and sets a highest activeness degree among activeness degrees of target pixels represented by individual heat maps about the selected some layers, as an activeness degree of the target pixel in the synthesis map, thereby generating the synthesis map.

A detection result analysis method according to the present disclosure includes:by an evaluation value calculation unit, focusing on, as a target layer, each of a plurality of layers in an object detection model which detects a target object included in image data and which is constituted using a neural network, and calculating an evaluation value of the target layer from a heat map representing an activeness degree per pixel in the image data obtained from an output result of the target layer, and from a detection region where the target object is detected; andby a layer selection unit, selecting at least some layers out of the plurality of layers on a basis of the evaluation value.

A detection result analysis program according to the present disclosure causes a computer to function as a detection result analysis device that performs:an evaluation value calculation process of focusing on, as a target layer, each of a plurality of layers in an object detection model which detects a target object included in image data and which is constituted using a neural network, and calculating an evaluation value of the target layer from a heat map representing an activeness degree per pixel in the image data obtained from an output result of the target layer, and from a detection region where the target object is detected; anda layer selection process of selecting at least some layers out of the plurality of layers on a basis of the evaluation value calculated by the evaluation value calculation process.

Advantageous Effects of Invention

According to the present disclosure, an evaluation value of a layer is calculated from a heat map representing an activeness degree per pixel in image data, and from a detection region where a target object is detected. At least some layers out of a plurality of layers are selected on the basis of the calculation values. This makes it possible to identify a layer suitable for visualization.

DESCRIPTION OF EMBODIMENTS

*** Description of Configuration ***

A configuration of a detection result analysis device10according to Embodiment 1 will be described with referring toFIG. 1.

The detection result analysis device10is a computer that identifies a layer suitable for visualizing a portion that is a basis of judgment by an object detection model.

The detection result analysis device10is provided with hardware devices which are a processor11, a memory12, a storage13, and a communication interface14. The processor11is connected to the other hardware devices via a signal line and controls the other hardware devices.

The processor11is an Integrated Circuit (IC) which performs processing.

Specific examples of the processor11are a Central Processing Unit (CPU), a Digital Signal Processor (DSP), and a Graphics Processing Unit (GPU).

The memory12is a storage device that stores data temporarily. Specific examples of the memory12are a Static Random-Access Memory (SRAM) and a Dynamic Random-Access Memory (DRAM).

The storage13is a storage device that keeps data. A specific example of the storage13is a Hard Disk Drive (HDD). The storage13may be a portable recording medium such as a Secure Digital (SD®) memory card, a CompactFlash (CF®), a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray® Disc, and a Digital Versatile Disk (DVD).

The communication interface14is an interface for communicating with an external device. Specific examples of the communication interface14are an Ethernet® port, a Universal Serial Bus (USB) port, and a High-Definition Multimedia Interface (HDMI®) port.

The detection result analysis device10is provided with an image acquisition unit21, an evaluation value calculation unit22, a layer selection unit23, and a synthesis unit24, as function components. Functions of the individual function components of the detection result analysis device10are implemented by software.

A program that implements the functions of the individual function components of the detection result analysis device10is stored in the storage13. This program is read into the memory12by the processor11and run by the processor11. Hence, the functions of the individual function components of the detection result analysis device10are implemented.

FIG. 1illustrates only one processor as the processor11. However, there may be a plurality of processors11. The plurality of processor11may cooperate with each other to run the program that implements the individual functions.

*** Description of Operations ***

Operations of the detection result analysis device10according to Embodiment 1 will be described with referring toFIGS. 2 through 6.

An operation procedure of the detection result analysis device10according to Embodiment 1 corresponds to a detection result analysis method according to Embodiment 1. A program that implements the operations of the detection result analysis device10according to Embodiment 1 corresponds to a detection result analysis program according to Embodiment 1.

Overall operations of the detection result analysis device10according to Embodiment 1 will be described with referring toFIG. 2.

The object detection model is a model that detects a target object included in image data. The object detection model is a model constituted using a neural network. As it is constituted using the neural network, the object detection model is constituted of a plurality of layers.

The image acquisition unit21acquires image data31being a processing target.

Specifically, the image acquisition unit21reads the image data31being set in the storage13by a user of the detection result analysis device10, thereby acquiring the image data31.

The evaluation value calculation unit22focuses on, as a target layer, each of the plurality of layers constituting the object detection model, and calculates an evaluation value of the target layer.

In this process, the evaluation value calculation unit22calculates the evaluation value from a heat map33representing an activeness degree per pixel in the image data31obtained from an output result of the target layer, and from a detection region32where a target object is detected from the image data31acquired in step S11.

The evaluation value calculation process according to Embodiment 1 will be described with referring toFIG. 3.

The evaluation value calculation unit22takes as input the image data31acquired in step S11and detects the target object by the object detection model. A type of the target object may be specified in advance or may be specified by the user.FIG. 4illustrates a case where a bottle is specified as the type of the target object.

The evaluation value calculation unit22identifies the detection region32which is a region where the target object is detected and which is identified by detecting the target object in step S21.

The evaluation value calculation unit22focuses on each of the plurality of layers constituting the object detection model, as the target layer, and generates the heat map33.

Specifically, the evaluation value calculation unit22generates the heat map33about the target layer from an output result of the target layer obtained when detecting the target object in step S21. The heat map33represents an activeness degree per pixel in the image data31acquired in step S11. Note that in the heat map33, a pixel with a higher activeness degree shows a larger value.

Out of the plurality of layers constituting the object detection model, the layer to be focused on as the target layer is only a layer, such as a convolution layer and a pooling layer, from which the heat map33can be generated, among the layers constituting the object detection model. The layer from which the heat map33can be generated specifically refers to a layer having a plurality of channels with two or more pixels in a vertical direction and two or more pixels in a horizontal direction and whose gradient can be calculated.

In Embodiment 1, all the layers from which the heat maps33can be generated are individually set as the target layers. However, out of all the layers from which the heat maps33can be generated, only some layers may be set as the target layers. For example, out of all the layers from which the heat maps33can be generated, only a certain layer and layers subsequent to it may be set as the target layers.

Out of the plurality of layers constituting the object detection model, the number of pixels in processing-target image data is smaller in a layer to be processed later. However, the evaluation value calculation unit22expands an output result of the target layer and generates the heat map33representing the activeness degree per pixel of the image data31.

For example, there is a case that, in a certain layer, the number of pixels is ¼ that of the image data31acquired in step S11. In this case, one pixel represents four pixels of the image data31. Hence, the evaluation value calculation unit22generates the heat map33on the premise that one pixel represents four pixels of the image data31.

Depending on the object detection model, even in a layer to be processed later among the plurality of layers, the number of pixels of the image data in the output result may increase. The number of pixels in the output result may vary depending on the layer. In any case, the number of pixels in the output result may be increased or decreased to correspond to the number of pixels of the image data31.

The evaluation value calculation unit22focuses on, as the target layer, each of the plurality of layers from which the heat maps33are generated, and calculates the evaluation value from the heat map33generated about the target layer in step S23and from the detection region32identified in step S22.

Specifically, the evaluation value calculation unit22calculates the evaluation value from a ratio of an activeness degree on an inside of the detection region32and an activeness degree on an outside of the detection region32, the activeness degree being represented by the heat map about the target layer. In Embodiment 1, the evaluation value calculation unit22calculates, as the evaluation value, a proportion of a sum of activeness degrees on the inside of the detection region32to a sum of activeness degrees on the outside of the detection region32.

InFIG. 4, assume that a pixel that is hatched darker has a higher activeness degree. InFIG. 4, there are many pixels hatched dark on the inside of the detection region32, and there are a few pixels hatched less dark on the outside of the detection region32. Therefore, a sum of activeness degrees on the inside of the detection region32is larger than a sum of activeness degrees on the outside of the detection region32, and accordingly the evaluation value is 1 or more.

In this process, the proportion of the sum of the activeness degrees on the inside of the detection region32to the sum of the activeness degrees on the outside of the detection region32is calculated as the evaluation value. However, the evaluation value is not limited to this. For example, a proportion of the sum of the activeness degrees on the inside of the detection region32to a sum of activeness degrees of the entire image data31may be calculated as the evaluation value.

The layer selection unit23selects at least some layers out of the plurality of layers constituting the object detection model, on the basis of the evaluation value calculated in step S12.

Specifically, the layer selection unit23selects a criterial number of layers out of layers each having an evaluation value higher than an evaluation threshold value. Accordingly, when there are a criterial number or more of layers each having an evaluation value higher than the evaluation threshold value, the criterial number of layers are selected. On the other hand, when there are less than the criterial number of layers each having an evaluation value higher than the threshold value, every layer having an evaluation value higher than the evaluation threshold value is selected.

The evaluation threshold value is a value that is set in advance in accordance with how much a layer should contribute to detection of the target object so that it is treated as an analysis target, or the like. The criterial number is a value that is set in advance in accordance with the number of layers constituting the object detection model, or the like.

InFIG. 5, out of layers ranging from a layer conv0to a layer conv17_1, layers each having achieved an evaluation value higher than 1.0 being the evaluation threshold value are four layers which are the layer conv11, the layer conv13, the layer conv14_1, and the layer conv14_2. InFIG. 5, the evaluation value of the layer conv11is expressed as inf. Note that inf indicates that all activated pixels are inside of the detection region32and that their evaluation values are infinity.

InFIG. 5, it is assumed that the criterial number is 5, and all of the four layers which are the layer conv11, the layer conv13, the layer conv14_1, and the layer conv14_2are selected.

The synthesis unit24synthesizes the heat maps33about the layers selected in step S13, thereby generating a synthesis map34.

Specifically, the synthesis unit24focuses on each pixel of the image data31as the target pixel, and sets the highest activeness degree among activeness degrees of the target pixels represented by the individual heat maps about the plurality of layers selected in step S13, as the activeness degree of the target pixel in the synthesis map34, thereby generating the synthesis map34.

For example, as illustrated inFIG. 6, regarding a certain pixel pi,j, assume that individual activeness degrees expressed by the heat maps about the selected layers are 15, 239, and 76. In this case, the activeness degree about the pixel pi,jin a synthesis map34is 239 which is the highest among 15, 239, and 76.

InFIG. 5, heat maps33about the four layers which are the layer conv11, the layer conv13, the layer conv14_1, and the layer conv14_2are synthesized to generate a synthesis map34. Hence, the activeness degree indicated by each pixel of the synthesis map34is the highest activeness degree among the layer conv11, the layer conv13, the layer conv14_1, and the layer conv14_2.

As described above, the detection result analysis device10according to Embodiment 1 calculates, about each layer, the evaluation value from the heat map33and the detection region32, and selects a layer on the basis of the evaluation value. This enables selection of a layer suitable for visualization.

About a certain layer, when a sum of activeness degrees on the inside of the detection region32is large, it signifies that a result of that layer is likely to have contributed to detection of a target object. In particular, about a certain layer, when a proportion of a sum of activeness degrees on the inside of the detection region32to a sum of activeness degrees on the outside of the detection region32is high, it signifies that a result of this layer is strongly reflected in a detection result of a target object. The proportion of the sum of the activeness degrees on the inside of the detection region32to the sum of the activeness degrees on the outside of the detection region32is an index that is used as the evaluation value in Embodiment 1.

Therefore, to select a layer having a high evaluation value signifies to select a layer suitable for visualizing a portion that is a basis of judgment by the object detection model.

The detection result analysis device10according to Embodiment 1 selects a layer suitable for visualization and generates the synthesis map34. Therefore, it is possible to generate the synthesis map34appropriately representing a portion that is a basis of judgment by the object detection model. As a result, it is possible to appropriately analyze the object detection model.

An example of an analysis based on the synthesis map34according to Embodiment 1 will be described with referring toFIG. 7.

InFIG. 7, a type of a target object is a bicycle. InFIG. 7, the entire bicycle is not identified as a detection region32, but a portion covering from a front wheel to a vicinity of a chain wheel of the bicycle is identified as a detection region32. That is, it is hard to say that the bicycle is appropriately detected by the object detection model.

In the synthesis map34, a pedal, a crank, part of a frame, and part of the front wheel are the basis of judgment. Meanwhile, it can be seen that a handle, a saddle, and a rear wheel are not much utilized as the basis of judgment. From this result, it may be possible to provide the object detection model with learning data about the handle, the saddle, and the rear wheel which are not much utilized as the basis of judgment, and to cause the object detection model to learn the learning data.

In Embodiment 1, out of layers each having an evaluation value higher than the evaluation threshold value, a criterial number of layers are selected in step S13ofFIG. 2. The criterial number may be 1. Sometimes the criterial number is desirably 2 or more.

If the criterial number is 1, the synthesis unit24may output the heat map33about the selected layer as it is, as the synthesis map34.

A case where the criterial number is desirably 2 or more will be described with referring toFIGS. 8 and 9.

InFIG. 8, the type of the target object is a motorbike. InFIG. 8, assume that each of a layer conv7, a layer conv9, a layer conv12, a layer conv13, a layer conv14_1, a layer conv14_2, and a layer conv15_1achieved an evaluation value higher than 1.0 which is an evaluation threshold value. InFIG. 8, it is assumed that the criterial number is 5. The layer conv9, the layer conv12, the layer conv14_1, the layer conv14_2, and the layer conv15_1are selected, and a synthesis map34is generated. Consequently, it can be seen from the synthesis map34that the front wheel of the motorbike, a vicinity of the front wheel, and part of the handle are the portion that is the basis of judgment. In the case of motorbike, a bare wheel is often utilized as the basis of judgment, and it can be seen from the synthesis map34that judgment is made appropriately by the object detection model.

InFIG. 8, a layer having the highest evaluation value is the layer conv9. Therefore, if the criterial number is 1, that is, if selecting only a layer having the highest evaluation value, only the layer conv9is selected. Then, from the synthesis map34, it seems as if part of the handle is the portion that is the basis of judgment. In this manner, an evaluation value of a layer featuring only a narrow region becomes the highest, and there is a possibility that only a layer not necessarily appropriately representing a portion that is the basis of judgment is selected.

InFIG. 9, the type of the target object is a bicycle. Image data31ofFIG. 9contains two bicycles.

InFIG. 9. a layer having the highest evaluation value is a layer conv15_1. Therefore, if the criterial number is 1, that is, if selecting only a layer having the highest evaluation value, only the layer conv15_1is selected. However, in the layer conv15_1, only a vicinity of a bicycle in front is activated, and a vicinity of a bicycle in the back is not activated. Hence, when there are a plurality of target objects in this manner, an evaluation value of a layer featuring only some target objects becomes the highest, and there is a possibility that only a layer not necessarily appropriately representing a portion that is the basis of judgment is selected.

In Embodiment 1, the individual function components are implemented by software. However, Modification 1 may be possible in which the individual function components are implemented by hardware. This Modification 1 will be described regarding its difference from Embodiment 1.

A configuration of a detection result analysis device10according to Modification 1 will be described with referring toFIG. 10.

When the individual function components are implemented by hardware, the detection result analysis device10is provided with an electronic circuit15in place of a processor11, a memory12, and a storage13. The electronic circuit15is a dedicated circuit that implements the functions of the individual function components and the functions of the memory12and storage13.

The electronic circuit15may be a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, a logic IC, a Gate Array (GA), an Application Specific Integrated Circuit (ASIC), or a Field-Programmable Gate Array (FPGA).

The individual function components may be implemented by one electronic circuit15. The individual function components may be implemented by a plurality of electronic circuits15through distribution.

Modification 2 may be possible in which some of the function components are implemented by hardware and the other function components are implemented by software.

The processor11, the memory12, the storage13, and the electronic circuit15are referred to as processing circuitry. That is, the functions of the individual function components are implemented by processing circuitry.

In Embodiment 2, an activeness degree of each pixel represented by a heat map33is subjected to n-value coding, and after that an evaluation value is calculated. This is where Embodiment 2 is different from Embodiment 1. Note that n is an integer of 2 or more. In Embodiment 2, this difference will be described, and the same point will not be described.

*** Description of Operations ***

Operations of a detection result analysis device10according to Embodiment 2 will be described with referring toFIGS. 11 and 12.

An operation procedure of the detection result analysis device10according to Embodiment 2 corresponds to a detection result analysis method according to Embodiment 2. A program that implements the operations of the detection result analysis device10according to Embodiment 2 corresponds to a detection result analysis program according to Embodiment 2.

An evaluation value calculation process according to Embodiment 2 will be described with referring toFIG. 11.

Processes of step S31through step S33are the same as the processes of step S21through step S23ofFIG. 3.

An evaluation value calculation unit22performs n-value coding of a heat map33generated in step S33for each layer. In Embodiment 2, the evaluation value calculation unit22performs binary coding of the heat map33of each layer.

Specifically, the evaluation value calculation unit22focuses on each pixel in the heat map33, as a target pixel. If the activeness degree of the target pixel is higher than the activeness threshold value, the evaluation value calculation unit22converts the activeness degree of the target pixel into 1. If the activeness degree of the target pixel is equal to or less than the activeness threshold value, the evaluation value calculation unit22converts the activeness degree of the target pixel into 0. As a result, as illustrated inFIG. 12, activeness degrees of pixels hatched dark in the heat map33become1, and activeness degrees of the other pixels become 0. InFIG. 12, a pixel having an activeness degree of 1 is expressed in white, and a pixel having an activeness degree of 0 is expressed in dark.

The evaluation value calculation unit22, by using the activeness degree after conversion in step S34, calculates, as an evaluation value, a proportion of a sum of the activeness degrees on the inside of the detection region32to a sum of the activeness degrees on the outside of the detection region32.

InFIG. 12, on the outside of the detection region32, there are 864 pixels each having an activeness degree of 1, and on the inside of the detection region32, there are 2944 pixels each having an activeness degree of 1. Hence, the evaluation value is 2944/864≈3.4.

As described above, the detection result analysis device10according to Embodiment 2 performs binary coding of the activeness degree of each pixel in the heat map33, and after that calculates the evaluation value. With binary coding of the activeness degree, a significant layer has a higher evaluation value, and a non-significant layer has a lower evaluation value. This makes it possible to identify a layer that is more suitable for visualization.

In Embodiment 2, in an exemplification of binary coding, if the activeness degree is higher than the activeness threshold value, 1 is set as the conversion activeness degree. If the activeness degree is equal to or less than the activeness threshold value, 0 is set as the conversion activeness degree. An arbitrary value can be set as the conversion activeness degree of each activeness threshold value.

For example, as illustrated inFIG. 13, when binary coding is not performed, in many layers, the evaluation layer slightly exceeds 1.0 which is the evaluation threshold value. In contrast to this, when binary coding is performed, then in some layers having evaluation values slightly exceeding the evaluation threshold value, the evaluation value decreases to less than 1.0 which is the evaluation threshold value. Meanwhile, in a layer originally having a relatively high evaluation value, the evaluation value becomes much higher. As a result, a number of layers having evaluation values exceeding 1.0 which is the evaluation threshold value decreases.

In Embodiment 2, the heat map33is subjected to binary coding. However, coding of the heat map33is not limited to binary coding, and n-value coding may be employed.

For example, with ternary coding, an evaluation value calculation unit22uses two threshold values which are a threshold value X and a threshold value Y, as activeness threshold values. In this case, as illustrated inFIG. 14, for a pixel having an activeness degree equal to or lower than the threshold value X, 0 is set as the conversion activeness degree. For a pixel having an activeness degree higher than the threshold value X and equal to or lower than the threshold value Y, 0.5 is set as the conversion activeness degree. For a pixel having an activeness degree higher than the threshold value Y, 1 is set as the conversion activeness degree.

In this manner, with n-value coding, an activeness threshold value for n−1 is set, and a conversion activeness degree is set for each activeness threshold value. Regarding the n-value coding process, a conversion activeness degree is fixed for each range of activeness degree which is partitioned by i (0<i<n) and i−1. If the activeness degree is higher than the activeness threshold value for n−1, the activeness degree is converted into a conversion activeness degree corresponding to the activeness threshold value for n−1. If the activeness degree is equal to or lower than the activeness threshold value for −1 and higher than an activeness threshold value for n−2, the activeness degree is converted into a conversion activeness degree corresponding to the activeness threshold value for n−2.

For the sake of simplified calculation, for example, a conversion activeness degree corresponding to an activeness threshold value higher than n−1 is set to 1. A conversion activeness degree corresponding to an activeness threshold value for an activeness degree of n−n+1 (=1) or less is set to 0. Regarding an activeness degree of n−2 through 2, it is converted into a value between 1 and 0. This is how n-value coding is performed. Calculation can be simplified by setting a lower limit value of the conversion activeness degree to 0. The upper limit value of the conversion activeness degree is not limited to 1 but may be another value.

Also, n-value coding may be performed using an ReLU function with a shifted threshold value.

Specifically, as illustrated inFIG. 15, regarding a pixel having an activeness degree equal to or lower than the evaluation threshold value X, 0 is set as the activeness degree. Regarding a pixel having an activeness degree higher than the evaluation threshold value X, the value of the activeness degree is maintained.

The detection result analysis device10in the individual embodiments may be applied to an object detection model used in an Automated guided vehicle (AGV). In an automated guided vehicle that employs an image recognition as a guidance method, the automated guided vehicle reads symbols written on the floor and ceiling, thereby grasping a position of itself. By applying the detection result analysis device10according to the individual embodiments to the object detection model used in the automated guided vehicle, an accuracy of the object detection model used in the automated guided vehicle can be improved. As a result, an automated guided vehicle that can move with a higher precision can be provided.

So far embodiments and modifications of the present invention have been described. Of these embodiments and modifications, several ones may be practiced by combination. One or several ones of these embodiments and modifications may be practiced partially. The present invention is not limited to the above embodiments and modifications, but various changes can be made to the present invention as necessary.

REFERENCE SIGNS LIST