Research Article
An Indoor Scene Classification Method for Service Robot Based on CNN Feature
Table 2
Architectures of feature extraction models.
| Layer name | Output size | Model 1 | Model 2 and 3 |
| ā | ā | 49-layer | 151-layer | Conv1 | | | Conv2_x | | | | | Conv3_x | | | | Conv4_x | | | | Conv5_x | | | | ā | | Average pool, flatten |
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