bot_detector_train.m

load('Turtle_bot_acf_detector2.mat','gTruth')
gTruth.LabelDefinitions


turtlebotGroundTruth = selectLabels(gTruth,'Turtlebot');
trainingData = objectDetectorTrainingData(turtlebotGroundTruth);
summary(trainingData);
acfDetector = trainACFObjectDetector(trainingData,'NegativeSamplesFactor',2);
save('use_for_turtlebot_detection.mat','acfDetector')

I = imread('test6.jpg');
bboxes = detect(acfDetector, I);                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (acfDetector,I);

annotation = acfDetector.ModelName;
I = insertObjectAnnotation(I,'rectangle',bboxes,annotation);

figure 
imshow(I)