ShiSanChuan / Darknet_ros
Licence: bsd-3-clause
校内赛无人机追踪气球
Stars: ✭ 27
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parrot2无人机yolov3目标物体追踪
- yolov3目标识别
- opencv颜色识别
- 物体追踪
- 无目标搜索(施工中ing20181106)
Overview
- MRZIRC比赛的第一个竞赛项目是无人机在100X60m的区域下寻找有悬挂气球的无人机,并且捕获目标气球,学校校内赛是在50mX60m的范围内寻找目标气球并且刺破;
- ROS是一款为机器人设计的系统框架,parrot2无人机提供ROS的开发通信环境bebop_autonomy;
- darknet yolov3是深度学习的目标检测框架,C++/C编写;
- 这个项目是基于一位外国的github的项目修改的darknet_ros项目。
Prepare
- 笔记本配置:i5,GTX1060
- 软件环境:Ubuntu16.04、 kinetic版本ROS
Vidio
How to used
build
cd catkin_ws/src
git clone https://github.com/AutonomyLab/bebop_autonomy.git
git clone https://github.com/ShiSanChuan/darknet_ros.git
cd ..
catkin build bebop_autonomy
catkin build darknet_ros -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
Download weights
- 原COCO data 训练好的框架
wget http://pjreddie.com/media/files/yolov3-voc.weights
wget http://pjreddie.com/media/files/yolov3.weights
- 比赛训练的模型框架文件(待传)
run
- 参照bebop_autonomy的链接,打开parrot2后笔记本连接parrot的网络,运行
roslaunch bebop_driver bebop_node.launch
- 运行成功后运行darknet ros,启动后飞机会自动起飞,注意安全,若不希望起飞在代码中修改下
roslaunch darknet_ros yolo_v3.launch
- 停止运行,在terminal输入
rostopic pub --once /bebop/land std_msgs/Empty
- opencv颜色提取获取参数,使用的是RGB设置的阈值,可修改为HSV,文件中有个全色图圈可用来测试下范围,调整完的参数在程序中修改
cd doc
g++ -std=c++11 Inrang.cpp -o Inrang `pkg-config --cflags --libs opencv`
./Inrang YOLO V3_screenshot_17.10.2018.png
Thinking
-
通过深度学习框架比如yolo来识别物体是可以的,不过受到图片尺寸问题,对于近处目标(大概3米)的目标可以识别,但对于远处目标(在parrot传来的428x240图片里大概占5个像素),这种目标是无法分辨出来的,因此在原基础代码上添加opencv的颜色识别的线程,用于辅助yolo的识别,使得无人机在比较远处能先靠近物体,若不是该目标物体再移动视角环境,找下一个疑似目标;
-
由于目标是移动的或者静止的,因此通过PID调整飞行参数使得目标的中心位置与图像中心位置重合。
Parament
- 安装原darknet_ros程序步骤,需要将训练模型的weight和cfg文件配置好,比赛识别的目标是气球因此专门为气球识别训练了几组weight
catkin_wc/src/darknet_ros/darknet_ros/yolo_network_config/weights/
catkin_wc/src/darknet_ros/darknet_ros/yolo_network_config/cfg/
- 在launch文件里修改launch启动文件,yaml文件设置识别阈值和目标类型
catkin_wc/src/darknet_ros/darknet_ros/launch/yolo_v3.launch
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov3-MBZIRC.yaml"/>
used on other UAV
- 若要使得该无人机目标追踪能在其他平台上使用(比如M100),除了处理修改自己要的识别目标的模型文件外,还必须按照bebop的话题修改ROStopic,同时对于无人机的控制命令(起飞、降落、姿态调整)的rostopic保持一致;
<param name="bebop_topic_head" value="/bebop" />
- 若要修改识别目标,先按照darknet官网训练目标的模型文件,在调节下远处目标识别的大概颜色。
Some Problem
- 在代码里面加入无目标时的路径搜索,参考的是这个大佬的网页动画,先在20x20的框图以起始和中心(或者其他目标点),所以没有目标时无人机回往中心点靠;
- 问题一是
没有GPS,所以每次发送控制命令时计算无人机坐标有点难; - 问题二是无人机摄像头识别范围,每次无人机经过地图的点,将没有目标的地图点的高度下降,再随时间上涨
- 问题三是有摄像头通过opencv识别到物体时,如何确定物体在地图中的点(距离),靠近后用yolo下不是该物体同样方法至该点至最负
Contributier
-
队友Voyager
-
M. Bjelonic "YOLO ROS: Real-Time Object Detection for ROS", URL: https://github.com/leggedrobotics/darknet_ros, 2018.
@misc{bjelonicYolo2018, author = {Marko Bjelonic}, title = {{YOLO ROS}: Real-Time Object Detection for {ROS}}, howpublished = {\url{https://github.com/leggedrobotics/darknet_ros}}, year = {2016--2018}, }
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