University of Oulu

S. Ariram, T. Pennanen, A. Tikanmäki and J. Röning, "Garbot - Semantic Segmentation for Material Recycling and 3D Reconstruction Utilizing Robotics," 2021 IEEE International Conference on Mechatronics and Automation (ICMA), 2021, pp. 1255-1260, doi: 10.1109/ICMA52036.2021.9512716

Garbot — Semantic Segmentation for Material Recycling and 3D Reconstruction Utilizing Robotics

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Author: Ariram, Siva1; Pennanen, Tuulia1; Tikanmäki, Antti1;
Organizations: 1Biomimetics and Intelligent Systems Group, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.8 MB)
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Language: English
Published: Institute of Electrical and Electronic Engineers, 2021
Publish Date: 2021-10-21


Semantic segmentation directly from the images of landfills can be utilized in the earth movers to segregate the garbage autonomously. Generally, Various segregation methods are available for garbage segregation such as IOT based waste segregation, Conveyor belt segregation in which none of them are directly from landfills. Semantic segmentation is one of the important tasks that maps the path towards the complete scene understanding. The aim of this paper is to present a smart segregation method for garbage by using semantic segmentation with DeepLab V3+ Model using the framework(Backbone model) of Xception-65 with the mean accuracy of 75.01%. This paper features the segmentation with the GarbotV1dataset which has major classifications such as Plastic, Cart-board, Wood, Metal, Sponge. The paper also contributes a method for reconstructing the segmented images to build a 3D map and this exploits the use of earth moving vehicles to navigate autonomously by localizing the segmented objects.

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Series: International Conference on Industrial Mechatronics and Automation
ISSN: 2152-7431
ISSN-E: 2152-744X
ISSN-L: 2152-7431
ISBN: 978-1-6654-4101-8
ISBN Print: 978-1-6654-3119-4
Pages: 1255 - 1260
DOI: 10.1109/ICMA52036.2021.9512716
Host publication: 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Conference: IEEE International Conference on Mechatronics and Automation
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: The project ’Garbot – Utilizing robotics and AI for material recycling’ was supported by the Kiertokaari Oy, Oulun Energia Oy, Finnish Environment Institute(SYKE) and Vimelco Oy. The authors appreciate them for their financial supports. The authors would also like to thank Mr. Gakwaya Achille for data annotation.
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