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Using Keras and Python to build a machine learning algorithim to identify and classify lego bricks

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python_keras_lego

Overview

This code implements an image classification model to identify LEGO pieces utilising the Keras deep-learning framework. This project has been inspired by an article on the IEE Spectrum website (link) which detailed a LEGO sorting machine that used a machine learning model to classify individual LEGO pieces.

Dataset

For the purposes of the initial version of the model, images of Lego bricks have been sourced from a public dataset available from the statistical learning website Kaggle.com (link). The dataset contains 400 images for different types of LEGO pieces. The Lego bricks have been created using the Blender 3D Modelling application. Each individual image displays the bricks from a different angle.

For the purposes of training and testing the initial version of the model, I have decided to focus on four distinct brick types:

  • 3022 Plate 2by2
  • 3069 Flat Tile 1by2
  • 3040 Roof Tile 1by2by46deg
  • 6632 Technic Lever 3M

Raw Bricks

Modified Dataset

For the Keras framework, best practices indicates that it is useful to “simplify” the input images in order to obtain a more efficient model output and to reduce run times. The raw input images from my dataset are of 200 pixels by 200 pixels with 3 dimensions (RGB colour space) . Initially I resized my images to 32 pixels by 32 pixels with 1 dimension of colour. As we can see in the output image below, there is a degree of pixilation in our images, however the resulting transformed image seems to retain sufficient information to enable the fitting of the model.

Modifed Bricks

Defining the Model & Hyper-Parameters

The model specification was as follows:

  • A Convolution Neural Network (CNN) was used for the classification. This is considered a state-of-the art model for image detection and classification .
  • A convolution and pooling step configured to the dimensions of the input data. A Rectified Linear Unit (ReLU) is used for the activation function, with the subsequent output having a filter size of 128.
  • This convolution layer is duplicated, however the second layer includes a dropout of 25%. A dropout helps prevent overfit in our model; in essence, the dropout performs a form of averaging and prevents individual neurons from becoming dominat . The final output again uses a filter size of 128.
  • The model output is then passed to a flattening layer
  • Following this there is a dense layer. For this I have specified a filter size of 64, with the intention being to “compress” the output of the CNN.
  • The final layer is a dense layer with an output filter of size 4 – this is equal to the number of categories of LEGO pieces that we are attempting to predict.
  • The loss function of the model is sparse_categorical_crossentropy
  • The optimizer is ADAM
  • For determining the optimal model fit, the Keras model uses the “accuracy” condition.

Model Fit

Once the model has been defined, it was ran for 3 Epochs. The model converges to an accuracy of 97% for the Training dataset and this is visible in the following graph, along with the corresponding loss function for the fit

Model Accuracy

It is also possible to examine the model accuracy by brick type :

Accuracy by brick type

Interesting, while our overall accuracy is extremely high, there is a large divergence in accuracy between the training and validation datasets and also between individual bricks.

  • The “6632 Technic lever” shows 100% accuracy for both the Train and Validation datasets
  • Both the “3022 Plate” and the “3069 Flat Tile” show high levels of accuracy, both for the Train and Validation datasets, over 90% in both cases
  • The model seems to be having issues with the “3040 Roof Tile”, particularly for the Validation dataset. This may indicate that the model is overfitting for the Training dataset.

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Using Keras and Python to build a machine learning algorithim to identify and classify lego bricks

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