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Unread 02-05-2017, 02:37 PM
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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).
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Unread 02-05-2017, 03:18 PM
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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?
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Unread 02-05-2017, 03:20 PM
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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.
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Unread 02-05-2017, 04:49 PM
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Re: Detecting gears with deep learning

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Originally Posted by solomondg View Post
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.

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Originally Posted by marshall View Post
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.
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Unread 02-05-2017, 07:28 PM
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Re: Detecting gears with deep learning

That's awesome, I've been trying to do this year, but still have not gotten enough data.
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Unread 02-05-2017, 09:21 PM
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Re: Detecting gears with deep learning

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Originally Posted by AirplaneWins View Post
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.
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Unread 02-06-2017, 07:27 AM
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Re: Detecting gears with deep learning

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Originally Posted by augustt198 View Post
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.
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Unread 02-06-2017, 10:26 AM
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Re: Detecting gears with deep learning

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Originally Posted by AirplaneWins View Post
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.
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Unread 02-06-2017, 11:04 AM
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Re: Detecting gears with deep learning

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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.
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Unread 02-06-2017, 11:09 AM
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Re: Detecting gears with deep learning

Just curious, why would you need to detect gears autonomously?
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Unread 02-06-2017, 11:36 AM
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Re: Detecting gears with deep learning

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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.
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Unread 02-06-2017, 11:00 PM
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Re: Detecting gears with deep learning

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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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Unread 03-25-2017, 09:46 PM
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Re: Detecting gears with deep learning

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Originally Posted by augustt198 View Post
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).
Can you please upload source code soon? We want to experiment since we're on our off-season
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Unread 04-12-2017, 07:25 PM
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Re: Detecting gears with deep learning

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Originally Posted by picubed View Post
Can you please upload source code soon? We want to experiment since we're on our off-season
Sorry I didn't see this sooner. Anyway here is the data + code:

https://github.com/Team334/gear-data

https://github.com/Team334/gear-detector
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Unread 07-15-2017, 12:37 AM
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Re: Detecting gears with deep learning

Was this done on DIGITS with the detectNet network? Also how did you single-shot test go?

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Originally Posted by augustt198 View Post
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.
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