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  • Aritificial Vision YOLOV2 Part2

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    David Benavides
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    The document summarizes an approach and results for object recognition for navigation using a modified YOLOv3 neural network model. Key results include detecting objects and storing their coordinates, names, sizes and middle points in a text file. Next steps discussed are linking the modified YOLOv3 model with ROS, incorporating an Intel RealSense camera, continuing distance estimation work from camera to object, and training YOLOv3 for specific needs of planetary exploration and robotics. The presentation aims to obtain real-time detection and distance estimates for navigation.

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    Aritificial Vision YOLOV2 part2

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    The document summarizes an approach and results for object recognition for navigation using a modified YOLOv3 neural network model. Key results include detecting objects and storing their coordinates, names, sizes and middle points in a text file. Next steps discussed are linking the modified YOLOv3 model with ROS, incorporating an Intel RealSense camera, continuing distance estimation work from camera to object, and training YOLOv3 for specific needs of planetary exploration and robotics. The presentation aims to obtain real-time detection and distance estimates for navigation.

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    38 views9 pages

    Aritificial Vision YOLOV2 Part2

    Uploaded by

    David Benavides
    The document summarizes an approach and results for object recognition for navigation using a modified YOLOv3 neural network model. Key results include detecting objects and storing their coordinates, names, sizes and middle points in a text file. Next steps discussed are linking the modified YOLOv3 model with ROS, incorporating an Intel RealSense camera, continuing distance estimation work from camera to object, and training YOLOv3 for specific needs of planetary exploration and robotics. The presentation aims to obtain real-time detection and distance estimates for navigation.

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    of 9

    OBJECT RECOGNITION FOR NAVIGATION

    FINAL PRESENTATION
    PLANETARY EXPLORATION AND SPACE ROBOTICS I

    DAVID BENAVIDES

    MSE WINTER SEMESTER 2019-2020


    Agenda
    ⚫ Approach & Results
    ⚫ Next steps
    Approach & Results
    ⚫ Finding coordinates of the detected Time: 26s → Too high!
    Compared with tiny YOLO = 1 second,
    object → Slight YOLOv3 code [1] but no so accurate.
    modification.
    Obtained Information after running the code:

    2D coordinate
    system used in
    the image
    Detected objects after running YOLOv3 full weights. processing.

    Objects coordinates [2]


    Approach & Results
    ⚫ Storing coordinates, name, size and middle points in a txt file → YOLOv3 code
    modification. Obtained Information after running the code:

    Generated ImageCoord.txt file:

    Detected objects after running YOLOv3 full weights.


    Approach & Results
    ⚫ Real time detection and distance estimation (using tiny Yolo) with single camera →
    YOLOv3 code modification.
    • Triangle Similarity
    Method.

    • Estimated known
    size of the object to
    detect.

    • Calculate the
    “Focal Length” of
    the camera.

    • Knowing the above


    parameters, the
    distance can be
    estimated.
    Next steps
    ⚫ Link YOLOv3 (modified) with ROS.
    ⚫ Incorporate Intel Real Sense.

    [3]

    ⚫ Keep working with distance estimation from camera to


    object.
    ⚫ Train YOLOv3 according to ERC needs.
    ⚫ Use a GPU to improve running speed of the algorithm
    Thank you!

    Questions?
    References
    [1] https://pjreddie.com/darknet/yolo/

    [2] https://www.pyimagesearch.com/

    [3] https://www.pyimagesearch.com/practical-python-opencv/?src=sidebar-single-
    weekend

    [4] https://www.pyimagesearch.com/2015/01/19/find-distance-camera-objectmarker-
    using-python-opencv/
    Image references
    [1] https://pjreddie.com/darknet/yolo/

    [2] https://answers.opencv.org/question/31470/the-coordinate-system-of-pinhole-camera-
    model/

    [3] https://www.conrad.com/p/intel-realsense-depth-camera-d435-full-hd-webcam-1920-x-
    1080-p-clip-mount-stand-1707630

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