| Citation: | LI L，FU M H，ZHANG T，et al. A workpiece location algorithm based on improved SSD[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（6）：1260-1269 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0442
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Accurate position information is essential for the robots to complete tasks such as picking, sorting, and assembling workpieces. However, the location accuracy of the prediction box is sensitive to the design of the loss function of the object detection algorithm. The four boundary information's correlation is disregarded in the SSD original regression loss function, which also does not account for changes in the evaluation index IoU. In response to the above problems, a workpiece location algorithm based on improved SSD is proposed. To address the problem of inaccurate bounding box regression, the suggested algorithm uses efficient intersection over union (EIoU) as the regression loss function of SSD. To represent the closeness of the center points and the difference in side length between the prediction box and the ground truth box, respectively, two penalty terms representing center point loss and aspect loss are added to the four boundary information as a whole. Experimental results demonstrate that the average location error is no more than 0.18 mm and the peak error is below 0.76 mm. The proposed algorithm not only can effectively improve the accuracy of the workpiece location but also work well in different kinds of workpieces or similar location tasks, which is promising for industrial applications.
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