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augustt198 05-02-2017 15:37

Detecting gears with deep learning
 
Using deep learning to find gears! This model was trained for around 3 hours with a dataset of only ~420 images:



Short video: https://www.youtube.com/watch?v=ia-qFr3SDM8

I'll continue adding more images to the dataset (and possibly images of fuel).

solomondg 05-02-2017 16:18

Re: Detecting gears with deep learning
 
Nice, similar to something we're looking at. What localization method did you use? I'm guessing either R-CNN or YOLO v2?

marshall 05-02-2017 16:20

Re: Detecting gears with deep learning
 
Neural networks are so last year. ;)

I kid! Great job with this. I hope you guys share your code and take some time to share your process after the season is over.

augustt198 05-02-2017 17:49

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by solomondg (Post 1640736)
Nice, similar to something we're looking at. What localization method did you use? I'm guessing either R-CNN or YOLO v2?

I actually used SSD. It's supposedly more accurate than YOLO with similar speed.

Quote:

Originally Posted by marshall (Post 1640738)
Neural networks are so last year. ;)

I kid! Great job with this. I hope you guys share your code and take some time to share your process after the season is over.

While cool, it looks like gear detection won't be that useful for our robot. I'm planning on uploading the data, pre-trained model, and instructions on how to run it sometime this week.

AirplaneWins 05-02-2017 20:28

Re: Detecting gears with deep learning
 
That's awesome, I've been trying to do this year, but still have not gotten enough data.

augustt198 05-02-2017 22:21

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by AirplaneWins (Post 1640824)
That's awesome, I've been trying to do this year, but still have not gotten enough data.

What I did was take a couple of videos (13 so far) of the gears while varying the angle, lighting, etc. Then I converted the videos into individual frames and annotated them in MATLAB. Took me two afternoons to get a bit over 400 annotated images.

AirplaneWins 06-02-2017 08:27

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by augustt198 (Post 1640872)
What I did was take a couple of videos (13 so far) of the gears while varying the angle, lighting, etc. Then I converted the videos into individual frames and annotated them in MATLAB. Took me two afternoons to get a bit over 400 annotated images.

I feel like an idiot for not thinking of the hat. That should have been my first instinct. In all seriousness though that's amazing. Did you use any backend for the training like theano or tensorflow. And what did you computer didn't you use for training.

augustt198 06-02-2017 11:26

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by AirplaneWins (Post 1640970)
I feel like an idiot for not thinking of the hat. That should have been my first instinct. In all seriousness though that's amazing. Did you use any backend for the training like theano or tensorflow. And what did you computer didn't you use for training.

I used caffe and trained on a GTX 1080. Seeing how it only took 3 hours to get pretty decent results, I bet the same training could be accomplished by a laptop in a day.

AirplaneWins 06-02-2017 12:04

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by augustt198 (Post 1641058)
I used caffe and trained on a GTX 1080. Seeing how it only took 3 hours to get pretty decent results, I bet the same training could be accomplished by a laptop in a day.

I have a GTX 1080 on my laptop, so Ill try a Single shot model with Caffe later today. Ill update you if I get any results.

arushshah1 06-02-2017 12:09

Re: Detecting gears with deep learning
 
Just curious, why would you need to detect gears autonomously?

AirplaneWins 06-02-2017 12:36

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by arushshah1 (Post 1641084)
Just curious, why would you need to detect gears autonomously?

Well, why not? First its a really fun challenge for programmers. Its also a great learning experience for anyone interested in neural nets and machine learning. But specific for the game, it depend on your team. One use would be to automatically intake a gear. If you are on the other side of the field, visibility becomes a major issue. Especially if you are directly behind the airship. If you can track a gear, then you can press a button and have the robot intake the gear.

augustt198 07-02-2017 00:00

Re: Detecting gears with deep learning
 
Quote:

Originally Posted by arushshah1 (Post 1641084)
Just curious, why would you need to detect gears autonomously?

Our robot doesn't really have any use for this, but I thought it would be fun to do nonetheless.


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