Mutual Positioning Method in Unknown Indoor Environment Based on Visual Image Semantics

Table 1

The recognition accuracy of R-FCN for different targets.

Semantic target	Correct number	Wrong number	Unrecognized number	Accuracy
Door	724	7	6	98.23%
Exhibition board	678	5	7	98.26%
Poster	375	3	4	98.17%
Window	297	4	3	97.70%
Heating	266	0	2	99.25%
Hydrant	102	2	2	96.23%
Exit light	86	0	3	96.63%
Vent	47	2	0	95.92%
Ashbin	39	0	1	97.50%