ComerLinePrediction based Watertank Detection and Localization Water tanks on the roof of buildings require regular laborcosting inspection, and object detection can be used to automate the task. Current detection frameworks have several drawbacks when they are applied: (1) The output horizontal rectangular boxes cannot provide arbitrary quadrilateral detection representations; (2) False positive results may easily appear when keypoint based models are used. In this paper, we propose a novel detection framework: CornerLinePrediction, which generates tight quadrilateral detection results of the tank blocks. Our model is built on key point detection network to detect corner points precisely. And an original line predictor is integrated to recognize unique tank edges, such that numerous false positive detections can be suppressed. Experimental results show that our CornerLinePrediction (CLP) framework outperforms state oftheart detection algorithms in averageprecision (AP) and produces better localization results, compared with mainstream general detection models.

Detection and localization of pallets on shelves using a wideangle camera This paper proposes a method to detect and localize pallets on shelves using a wideangle camera mounted on a vehicle several meters away along the shelves. Although wideangle observation is a significant advantage in navigation, objects appear small and largely distorted in the observed image, thus creating a severe disadvantage for the detection and localization of objects. To solve this problem, we propose reprojecting wideangle views onto a threedimensional (3D) plane to obtain a good projection image for object detection, in which pallets appear in the same shape and size regardless of the location in the image. Since the image projected on the plane coplanar to the palletu0027s front surface satisfy the above condition, we approximate the projection plane using the front surface of the shelves with pallets on it. Owing to the constant appearance of the pallet on the projected image, it can be robustly detected using the matching with a fixed template. When a pallet is detected, it is threedimensionally localized from the equation of the 3D plane of the projection plane and its 2D location in the projected image. Experiments using empirically captured scenes demonstrated the detection and localization ability of the proposed method. Despite small area in the original wideangle view, pallets of interest were discriminatively detected from others and localized with acceptable accuracy.