please find more details in X. Chen, Y. Chen, F. Jing and H. Najjaran, "libSmart: an Open-Source Tool for Simple Integration of Deep Learning into Intelligent Robotic Systems," 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR), Irkutsk, Russia, 2019, pp. 720-725, doi: 10.1109/RCAR47638.2019.9043946.