Real-Time Object Detection Using Depth Sensors

A depth-based object-detection convolutional neural network is disclosed. The depth-based object-detection convolutional neural network described herein incorporates a base network and additional structure. The base network is configured to receive a depth image formatted as RGB image data as input, and compute output data indicative of at least one feature of an object in the RGB image data. The additional structure is configured to receive the output data of the base network as input, and compute predictions of the location of a region in the received depth image that includes the object and of a class of the object as output. An object detection device incorporating the depth-based object-detection convolutional neural network is operable in real time using an embedded GPU.