A Deep Neural Network-Based Target Recognition Algorithm for Robot Scenes

Table 2

PASCAL VOC2007 test results for different categories.

Methods category	Faster	ION	MR-CNN	YOLOv2	SSD300	SS512	STDN321	STDN513	Ours320	Ours 512
Aero	76.5	79.2	80.3	86.3	79.5	84.8	81.2	86.1	84.5	88.5
Bike	79	83.1	84.1	82	83.9	85.1	88.3	89.3	85.4	86.4
Bird	70.9	77.6	78.5	74.8	76	81.5	78.1	79.5	80.1	84
Boat	66.5	65.6	70.8	59.2	69.6	73	72.2	74.3	73.8	75.8
Bottle	52.1	54.9	68.5	51.8	50.5	57.8	54.3	61.9	60	69.4
Bus	83.1	85.4	88	79.8	87	87.8	87.6	88.5	87.7	88.9
Car	84.7	85.1	85.9	76.5	85.7	88.3	86.7	88.3	88.2	89.2
Cat	86.4	87	87.8	90.6	88.1	87.4	88.7	89.4	89	89.5
Chair	52	54.4	60.3	52.1	60.3	63.5	63.5	67.4	63.8	66.7
Cow	81.9	80.6	85.2	78.2	81.5	85.4	83.2	85.5	84.7	86.4
Table	65.7	73.8	73.7	58.5	77	73.2	79.4	79.5	77.2	73.2
Dog	84.8	85.3	87.2	89.3	86.1	86.2	86.1	86.4	86	87.6
Horse	84.6	82.2	86.5	82.5	87.5	86.7	89.3	89.2	86.4	88.2
M. bike	77.5	82.2	85	83.4	83.9	83.9	88	88.5	86.7	87.5
Person	76.7	74.4	76.4	81.3	79.4	82.5	77.3	79.3	82.5	84.9
Plant	38.8	47.1	48.5	49.1	52.3	55.6	52.5	53	56.1	58.3
Sheep	73.6	75.8	76.3	77.2	77.9	81.7	80.3	77.9	81.3	84.9
Sofa	73.9	72.7	75.5	62.4	79.5	79	80.8	81.4	80.4	78.3
Train	83	84.2	85	83.4	87.6	86.6	86.3	86.6	88.5	87.8
Tv	72.6	80.4	81	68.7	76.8	80	82.1	85.5	79.8	80.8
mAP	73.2	75.6	78.2	76.8	77.5	79.5	79.3	80.9	80.1	81.9