Implementing yolov4 target detection and tracking based on nao robot

Overview

基于nao机器人实现yolov4目标检测并进行跟踪

Introduction - 介绍

本项目为yolov4算法在nao机器人上的应用。

关于YOLOv4原理请参考YOLOv4原论文
本项目主要YOLOv4框架参考Bubbliiiing博主复现的代码
原博客链接:https://blog.csdn.net/weixin_44791964/article/details/106214657
复现代码链接:https://github.com/bubbliiiing/yolov4-pytorch
nao机器人单目测距方法请参考:https://wenku.baidu.com/view/bdc7eea7482fb4daa48d4b24.html
使用本项目前请先下载复现YOLOv4代码,并用py3.6文件夹中.py文件替换原文件中的同名文件


下图为目标跟踪流程图。由于nao机器人sdk库naoqi仅支持py2.7环境,本项目需分别运行py2.7环境下的"封装跟踪.py"文件和py3.6环境下的"predict.py"文件。
该项目可以让nao机器人转头寻找水瓶目标,检测到目标后通过单目测距向目标前进,当目标距离和nao小于1.09m时,程序完成运行。 image

Requirements - 必要条件

py2.7环境

numpy==1.16.6+vanilla
opencv-python==2.4.13.7
Pillow==6.2.2
pynaoqi==2.1.4.13

tips

naoqi库为软银官方提供的nao机器人sdk
naoqi库百度云链接:链接: https://pan.baidu.com/s/1kib-Bx9BjiOXCjrIycsIAw 提取码: 5k8b


py3.6环境

pytorch和cuda版本参考Bubbliiiing博文,其他缺少环境任意版本即可。 参考环境见py3.6环境文件(仅供参考,因为包含了很多自用无关的库)

Configuration - 配置

使用本项目前请先下载复现YOLOv4代码,并用py3.6文件夹中.py文件替换原文件中的同名文件
YOLOv4环境的配置方法:
1.将训练好的只检测水瓶类的权重文件放入model_data文件夹,并替换yolo.py中的初始路径
2.把model_data文件夹下的voc_classes.txt文件中物品类别改为只有bottle
3.更多问题详见Bubbliiiing博文。

本项目跟踪的只有水瓶类,所以训练时只提取了VOC2007数据集中的水瓶类别
只有水瓶类别的VOC2007数据集百度云链接:链接: https://pan.baidu.com/s/1d11f3lm2BvPtwxXuRYZ5HQ 提取码: w2kn
训练好的只检测水瓶类的权重百度云链接: 链接: https://pan.baidu.com/s/1Qt__j8RAOZeRbY8BjXitpA 提取码: 5u2b

Usage - 用法

配置好py3.6和py2.7环境后。先运行"封装跟踪.py"文件,再运行"predict.py"文件。
检测到的图片信息可见于img文件夹

Changelog - 更新日志

License - 版权信息

本项目证书为GPL-3.0 License,详见GPL-3.0 License.md

PyTorch Implementation of Spatially Consistent Representation Learning(SCRL)

Spatially Consistent Representation Learning (CVPR'21) Official PyTorch implementation of Spatially Consistent Representation Learning (SCRL). This re

Kakao Brain 102 Nov 03, 2022
Deep Illuminator is a data augmentation tool designed for image relighting. It can be used to easily and efficiently generate a wide range of illumination variants of a single image.

Deep Illuminator Deep Illuminator is a data augmentation tool designed for image relighting. It can be used to easily and efficiently generate a wide

George Chogovadze 52 Nov 29, 2022
Reproduction of Vision Transformer in Tensorflow2. Train from scratch and Finetune.

Vision Transformer(ViT) in Tensorflow2 Tensorflow2 implementation of the Vision Transformer(ViT). This repository is for An image is worth 16x16 words

sungjun lee 42 Dec 27, 2022
A python script to convert images to animated sus among us crewmate twerk jifs as seen on r/196

img_sussifier A python script to convert images to animated sus among us crewmate twerk jifs as seen on r/196 Examples How to use install python pip i

41 Sep 30, 2022
Source code for the plant extraction workflow introduced in the paper “Agricultural Plant Cataloging and Establishment of a Data Framework from UAV-based Crop Images by Computer Vision”

Plant extraction workflow Source code for the plant extraction workflow introduced in the paper "Agricultural Plant Cataloging and Establishment of a

Maurice Günder 0 Apr 22, 2022
A Comprehensive Analysis of Weakly-Supervised Semantic Segmentation in Different Image Domains (IJCV submission)

wsss-analysis The code of: A Comprehensive Analysis of Weakly-Supervised Semantic Segmentation in Different Image Domains, arXiv pre-print 2019 paper.

Lyndon Chan 48 Dec 18, 2022
Official Repsoitory for "Activate or Not: Learning Customized Activation." [CVPR 2021]

CVPR 2021 | Activate or Not: Learning Customized Activation. This repository contains the official Pytorch implementation of the paper Activate or Not

184 Dec 27, 2022
ConvMixer unofficial implementation

ConvMixer ConvMixer 非官方实现 pytorch 版本已经实现。 nets 是重构版本 ,test 是官方代码 感兴趣小伙伴可以对照看一下。 keras 已经实现 tf2.x 中 是tensorflow 2 版本 gelu 激活函数要求 tf=2.4 否则使用入下代码代替gelu

Jian Tengfei 8 Jul 11, 2022
Incremental Cross-Domain Adaptation for Robust Retinopathy Screening via Bayesian Deep Learning

Incremental Cross-Domain Adaptation for Robust Retinopathy Screening via Bayesian Deep Learning Update (September 18th, 2021) A supporting document de

Taimur Hassan 1 Mar 16, 2022
git《Investigating Loss Functions for Extreme Super-Resolution》(CVPR 2020) GitHub:

Investigating Loss Functions for Extreme Super-Resolution NTIRE 2020 Perceptual Extreme Super-Resolution Submission. Our method ranked first and secon

Sejong Yang 0 Oct 17, 2022
Illuminated3D This project participates in the Nasa Space Apps Challenge 2021.

Illuminated3D This project participates in the Nasa Space Apps Challenge 2021.

Eleftheriadis Emmanouil 1 Oct 09, 2021
Library for time-series-forecasting-as-a-service.

TIMEX TIMEX (referred in code as timexseries) is a framework for time-series-forecasting-as-a-service. Its main goal is to provide a simple and generi

Alessandro Falcetta 8 Jan 06, 2023
Rasterize with the least efforts for researchers.

utils3d Rasterize and do image-based 3D transforms with the least efforts for researchers. Based on numpy and OpenGL. It could be helpful when you wan

Ruicheng Wang 8 Dec 15, 2022
This repository accompanies the ACM TOIS paper "What can I cook with these ingredients?" - Understanding cooking-related information needs in conversational search

In this repository you find data that has been gathered when conducting in-situ experiments in a conversational cooking setting. These data include tr

6 Sep 22, 2022
Predict bus arrival time using VertexAI and Nvidia's Jetson Nano

bus_prediction predict bus arrival time using VertexAI and Nvidia's Jetson Nano imagenet the command for imagenet.py look like this python3 /path/to/i

10 Dec 22, 2022
SCAN: Learning to Classify Images without Labels, incl. SimCLR. [ECCV 2020]

Learning to Classify Images without Labels This repo contains the Pytorch implementation of our paper: SCAN: Learning to Classify Images without Label

Wouter Van Gansbeke 1.1k Dec 30, 2022
Neural Koopman Lyapunov Control

Neural-Koopman-Lyapunov-Control Code for our paper: Neural Koopman Lyapunov Control Requirements dReal4: v4.19.02.1 PyTorch: 1.2.0 The learning framew

Vrushabh Zinage 6 Dec 24, 2022
Chinese clinical named entity recognition using pre-trained BERT model

Chinese clinical named entity recognition (CNER) using pre-trained BERT model Introduction Code for paper Chinese clinical named entity recognition wi

Xiangyang Li 109 Dec 14, 2022
Ray tracing of a Schwarzschild black hole written entirely in TensorFlow.

TensorGeodesic Ray tracing of a Schwarzschild black hole written entirely in TensorFlow. Dependencies: Python 3 TensorFlow 2.x numpy matplotlib About

5 Jan 15, 2022
[NeurIPS 2021] Official implementation of paper "Learning to Simulate Self-driven Particles System with Coordinated Policy Optimization".

Code for Coordinated Policy Optimization Webpage | Code | Paper | Talk (English) | Talk (Chinese) Hi there! This is the source code of the paper “Lear

DeciForce: Crossroads of Machine Perception and Autonomy 81 Dec 19, 2022