Autonomous Vehicles and Mobile Land/Aerial Robots/Drones @ ASL の履歴(No.12)

• 履歴一覧
• 差分 を表示
• 現在との差分 を表示
• ソース を表示
• Autonomous Vehicles and Mobile Land/Aerial Robots/Drones @ ASL へ行く。
  • 1 (2018-03-29 (木) 04:56:07)
  • 2 (2018-03-29 (木) 05:01:26)
  • 3 (2018-04-02 (月) 12:25:59)
  • 4 (2018-05-07 (月) 08:31:08)
  • 5 (2018-05-24 (木) 17:33:26)
  • 6 (2018-05-28 (月) 10:25:00)
  • 7 (2018-05-31 (木) 18:55:12)
  • 8 (2018-06-12 (火) 03:20:54)
  • 9 (2018-06-21 (木) 02:02:50)
  • 10 (2018-07-16 (月) 04:39:30)
  • 11 (2018-07-19 (木) 02:35:33)
  • 12 (2018-10-05 (金) 10:41:57)

---

ASL Wiki

RobotCarAI†

Abstract†

A robot car developed by Mr.Takanashi belonging to Gclue. Three functions are mainly provided, wall detection, lane detection, and sign detection are implemented. Various devices are controlled and calculated by raspberry pi, and some calculations are processed by Jetson's GPU.

Environments†

• Raspberry Pi 3 model B

• docker

  • Ubuntu Python 2.7

  • FaBoPWM-PCA9685-Python

  • FaBoGPIO-PCAL6408
• Python Fabo brick and shielder

  • Motor Shield Raspberry Pi Rev 1.0.1

  • Kerberos ver 1.0.0
 -Robot Car Rev. 1.0.1

  • Button

  • distance sensor


• Web Camera

  • Logicool c270
• Jetson TX2

• Set up

Functions†

• Wall detection
• Lane detection
• Sign detection

Slides†

• RobotCarDemo_1.pdf

References†

• Autonomous Robot Car Developed by GClue,https://github.com/FaBoPlatform/RobotCarAI
• RobotCarAI - https://github.com/FaBoPlatform/RobotCarAI/tree/master/level3_demo_streaming
• SSD model: https://github.com/balancap/SSD-Tensorflow

AI Chip†

• https://www.brainchipinc.com/news-media/presentations

• http://fabo.io/

Robot-Car Complet Source Code†

• original source:
  • https://github.com/FaBoPlatform/RobotCarAI/tree/e0396ad6e8b629164c6292e623fff1272eac5b21

• ASL mirror1:
  • https://adaptive.u-aizu.ac.jp/gitlab/asl/RobotCarAI

• ASL mirror2:

• http://webfs-int.u-aizu.ac.jp/~benab/doc/RobotCarAI-master.zip

File Tree (Minimal)†

|--LICENSE
|--README.md
|--install_raspberry_pi3
|--level1_car
|--level1_demo
|--level1_sensors
|--level2_demo
|--level2_demo_socket
|--level2_lane_detection
|--level3_demo_socket
|--level3_demo_streaming
|--level3_object_detection
|--level4_lane_detection
|--level5_demo_streaming

File Tree (Only Primaly Files)†

|--LICENSE
|--README.md
|--demo
|  |--IRE2017
|  |  |--RobotARM
|  |  |  |--2017IREdemo-arm.png
|  |  |  |--CNN
|  |  |  |  |--freeze_graph.py
|  |  |  |  |--run_ai_test_data.py
|  |  |  |  |--run_ai_webcam.py
|  |  |  |  |--test_data
|  |  |  |  |  |--0
|  |  |  |  |  |--1
|  |  |  |  |  |--2
|  |  |  |  |  |--3
|  |  |  |  |  |--4
|  |  |  |  |  |--5
|  |  |  |  |  |--6
|  |  |  |  |--test_data2
|  |  |  |  |  |--0
|  |  |  |  |  |--1
|  |  |  |  |  |--2
|  |  |  |  |  |--3
|  |  |  |  |  |--4
|  |  |  |  |  |--5
|  |  |  |  |  |--6
|  |  |  |  |--train_cnn-murayama.py
|  |  |  |  |--train_cnn.py
|  |  |  |  |--train_data
|  |  |  |  |  |--0
|  |  |  |  |  |--1
|  |  |  |  |  |--2
|  |  |  |  |  |--3
|  |  |  |  |  |--4
|  |  |  |  |  |--5
|  |  |  |  |  |--6
|  |  |  |--README-Jetson_TX2.txt
|  |  |  |--README.txt
|  |  |  |--lib
|  |  |  |  |--__init__.py
|  |  |  |  |--ai.py
|  |  |  |  |--ai2_dropout.py
|  |  |  |  |--arm.py
|  |  |  |  |--led.py
|  |  |  |  |--servo.py
|  |  |  |  |--spi.py
|  |  |  |--model
|  |  |  |  |--cnn_model_220.pb
|  |  |  |  |--cnn_model_murayama_1570.pb
|  |  |  |--run_arm_ai.py
|  |  |  |--start_button.py
|  |  |  |--test
|  |  |  |  |--ai_test.py
|  |  |  |  |--arm_test.py
|  |  |  |  |--button_test.py
|  |  |  |  |--led_test.py
|  |  |  |  |--model_test.py
|  |  |  |  |--servo_test.py
|  |  |--RobotCAR
|  |  |  |--MLP
|  |  |  |  |--freeze_graph.py
|  |  |  |  |--run_ai_test.py
|  |  |  |  |--train_model.py
|  |  |  |--README-raspberry_pi3.txt
|  |  |  |--README.txt
|  |  |  |--generator
|  |  |  |  |--__init__.py
|  |  |  |  |--sensordatagenerator.py
|  |  |  |--lib
|  |  |  |  |--__init__.py
|  |  |  |  |--ai.py
|  |  |  |  |--car.py
|  |  |  |  |--kerberos.py
|  |  |  |  |--motor.py
|  |  |  |  |--servo.py
|  |  |  |  |--spi.py
|  |  |  |--model
|  |  |  |  |--car_model.pb
|  |  |  |--run_car_ai.py
|  |  |  |--start_button.py
|  |  |  |--test
|  |  |  |  |--car_test.py
|  |  |  |  |--kerberos_test.py
|  |  |  |  |--kerberoslib_test.py
|  |  |  |  |--motor_test.py
|--install_raspberry_pi3
|  |--README.md
|  |--setup_bash.sh
|  |--setup_dircolors.sh
|  |--setup_dircolors_stretch.txt
|  |--setup_ip_forward.sh
|  |--setup_package.sh
|  |--setup_update.sh
|  |--setup_vim.sh
|--level1_car
|  |--README.md
|  |--document
|  |  |--demo1.mp4
|  |  |--img1.jpg
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |  |--robotcar.jpg
|  |--fabolib
|  |  |--__init__.py
|  |  |--car.py
|  |  |--kerberos.py
|  |  |--kerberos_vl53l0x.py
|  |  |--motor.py
|  |  |--servo.py
|  |--generator
|  |  |--__init__.py
|  |  |--labelgenerator.py
|  |  |--simplelabelgenerator.py
|  |--lib
|  |  |--__init__.py
|  |  |--spi.py
|  |--run_car_if.py
|  |--start_button.py
|  |--test
|  |  |--car_test.py
|  |  |--fabolib_kerberos_test.py
|  |  |--fabolib_kerberos_vl5310x_test.py
|  |  |--kerberos_test.py
|  |  |--motor_test.py
|  |  |--servo_test.py
|--level1_demo
|  |--README.md
|  |--document
|  |  |--demo1.mp4
|  |  |--img1.jpg
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |  |--robotcar.jpg
|  |--fabolib
|  |  |--__init__.py
|  |  |--car.py
|  |  |--kerberos.py
|  |  |--kerberos_vl53l0x.py
|  |  |--motor.py
|  |  |--servo.py
|  |--lib
|  |  |--__init__.py
|  |  |--ai.py
|  |  |--spi.py
|  |--model
|  |  |--car_model_100M.pb
|  |--run_car_ai.py
|  |--start_button.py
|--level1_sensors
|  |--MLP
|  |  |--freeze_graph.py
|  |  |--run_ai_test.py
|  |  |--train_model.py
|  |--README.md
|  |--document
|  |  |--calc1.png
|  |  |--code-design1.png
|  |  |--code-design2.png
|  |  |--code-design3.png
|  |  |--code-design4.png
|  |  |--code-design5.png
|  |  |--freeze-design1.png
|  |  |--habadori.png
|  |  |--magaru1.png
|  |  |--magaru2.png
|  |  |--mlp.png
|  |  |--prediction-design1.png
|  |  |--robotcar.jpg
|  |  |--robotcar.png
|  |  |--tensorboard1.png
|  |  |--tensorboard2.png
|  |  |--tensorboard3.png
|  |--fabolib
|  |  |--__init__.py
|  |  |--kerberos.py
|  |--generator
|  |  |--__init__.py
|  |  |--labelgenerator.py
|  |--lib
|  |  |--__init__.py
|  |  |--ai.py
|  |--model
|  |  |--car_model.pb
|  |  |--car_model_100M.pb
|  |  |--car_model_10M.pb
|  |  |--car_model_110M.pb
|  |  |--car_model_120M.pb
|  |  |--car_model_130M.pb
|  |  |--car_model_140M.pb
|  |  |--car_model_150M.pb
|  |  |--car_model_20M.pb
|  |  |--car_model_30M.pb
|  |  |--car_model_40M.pb
|  |  |--car_model_50M.pb
|  |  |--car_model_60M.pb
|  |  |--car_model_70M.pb
|  |  |--car_model_80M.pb
|  |  |--car_model_90M.pb
|  |--run_ai.py
|  |--run_ai_eval.py
|  |--run_ai_eval_400.py
|  |--to_one_hot_value.py
|--level2_demo
|  |--README.md
|  |--document
|  |  |--course.jpg
|  |  |--demo1.mp4
|  |  |--demo2.mp4
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |  |--result_frame_1.jpg
|  |  |--robotcar1.jpg
|  |  |--robotcar2.jpg
|  |  |--robotcar3.jpg
|  |--fabolib
|  |  |--__init__.py
|  |  |--car.py
|  |  |--motor.py
|  |  |--servo.py
|  |--lib
|  |  |--__init__.py
|  |  |--functions.py
|  |  |--opencv_lane_detection.py
|  |  |--spi.py
|  |--run_car.py
|  |--start_button.py
|--level2_demo_socket
|  |--README.md
|  |--car_client
|  |  |--fabolib
|  |  |  |--__init__.py
|  |  |  |--car.py
|  |  |  |--motor.py
|  |  |  |--servo.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--camera.py
|  |  |  |--spi.py
|  |  |--run_car_client.py
|  |  |--start_button.py
|  |--document
|  |  |--course.jpg
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |  |--robotcar1.jpg
|  |  |--robotcar2.jpg
|  |  |--robotcar3.jpg
|  |--pc_server
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--opencv_lane_detection.py
|  |  |--server.py
|--level2_lane_detection
|  |--README.md
|  |--demo_lane
|  |  |--input4.mp4
|  |--document
|  |  |--course.jpg
|  |  |--result_frame_1.jpg
|  |  |--result_input4.mp4
|  |--lib
|  |  |--__init__.py
|  |  |--functions.py
|  |--opencv_lane_detection.py
|  |--test_images
|  |  |--frame_1.jpg
|  |  |--frame_325_ipm.jpg
|  |  |--frame_438_ipm.jpg
|  |--to_inverse_perspective_mapping.py
|  |--to_region_of_interest.py
|  |--to_white.py
|--level3_demo_socket
|  |--README.md
|  |--car_client
|  |  |--fabolib
|  |  |  |--__init__.py
|  |  |  |--car.py
|  |  |  |--motor.py
|  |  |  |--servo.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--camera.py
|  |  |  |--spi.py
|  |  |--run_car_client.py
|  |  |--start_button.py
|  |--document
|  |  |--course.jpg
|  |  |--demo.mp4
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |--pc_server
|  |  |--analyze.py
|  |  |--analyzelib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--object_detection.py
|  |  |  |--video.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--object_detection.py
|  |  |  |--opencv_lane_detection.py
|  |  |--server.py
|--level3_demo_streaming
|  |--README.md
|  |--car_client
|  |  |--fabolib
|  |  |  |--__init__.py
|  |  |  |--car.py
|  |  |  |--motor.py
|  |  |  |--servo.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--spi.py
|  |  |--run_car_client.py
|  |  |--start_button.py
|  |--document
|  |  |--course.jpg
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |  |--leve3_aws_demo1.mp4
|  |--pc_server
|  |  |--analyze.py
|  |  |--analyzelib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--object_detection.py
|  |  |  |--video.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--object_detection.py
|  |  |  |--opencv_lane_detection.py
|  |  |  |--webcam.py
|  |  |--server.py
|--level3_object_detection
|  |--README.md
|  |--demo_images
|  |  |--DSC_0311.jpg
|  |  |--DSC_0312.jpg
|  |  |--DSC_0313.jpg
|  |  |--DSC_0314.jpg
|  |  |--DSC_0315.jpg
|  |--document
|  |  |--course.jpg
|  |  |--course160x120.mp4
|  |  |--detection.png
|  |  |--jetson_tx2-stop.png
|  |  |--labelImg.png
|  |  |--stop.mp4
|  |--install_scripts
|  |  |--install.sh
|  |  |--install_balancap_ssd-tensorflow.sh
|  |  |--install_labelimg.sh
|  |  |--patch_to.sh
|  |  |--setup_bugfix.sh
|  |--lib
|  |  |--__init__.py
|  |  |--ssd_params.py
|  |--model
|  |  |--ssd_roadsign.pb
|  |--patch_to_SSD-Tensorflow
|  |  |--ssd_vgg_300.patch
|  |  |--ssd_vgg_preprocessing.patch
|  |--roadsign_data
|  |  |--PascalVOC
|  |  |  |--Annotations
|  |  |  |  |--20171220_170443.xml
|  |  |  |  |--20171220_170448.xml
|  |  |  |  |--20171220_170456.xml
|  |  |  |  |--20171220_170500.xml
|  |  |  |  |--20171220_170540.xml
|  |  |  |  |--20171220_170559.xml
|  |  |  |  |--20171220_170607.xml
|  |  |  |  |--20171220_170615.xml
|  |  |  |  |--20171220_170626.xml
|  |  |  |  |--20171220_170630.xml
|  |  |  |  |--20171220_170633.xml
|  |  |  |  |--20171220_170637.xml
|  |  |  |  |--20171220_170648.xml
|  |  |  |  |--20171220_170652.xml
|  |  |  |  |--20171220_170655.xml
|  |  |  |  |--20171220_170701.xml
|  |  |  |  |--20171220_170704.xml
|  |  |  |  |--20171220_170714.xml
|  |  |  |  |--20171220_170718.xml
|  |  |  |  |--20171220_170727.xml
|  |  |  |  |--20171220_170731.xml
|  |  |  |  |--20171220_170736.xml
|  |  |  |  |--20171220_170740.xml
|  |  |  |  |--20171220_170745.xml
|  |  |  |  |--20171220_170747.xml
|  |  |  |  |--20171220_170809.xml
|  |  |  |  |--20171220_170813.xml
|  |  |  |  |--20171220_170816.xml
|  |  |  |  |--20171220_170822.xml
|  |  |  |  |--20171220_170843.xml
|  |  |  |  |--20171220_170847.xml
|  |  |  |  |--20171220_170850.xml
|  |  |  |  |--DSC_0311.xml
|  |  |  |  |--DSC_0312.xml
|  |  |  |  |--DSC_0313.xml
|  |  |  |  |--DSC_0314.xml
|  |  |  |  |--DSC_0315.xml
|  |  |  |--JPEGImages
|  |  |  |  |--20171220_170443.jpg
|  |  |  |  |--20171220_170448.jpg
|  |  |  |  |--20171220_170456.jpg
|  |  |  |  |--20171220_170500.jpg
|  |  |  |  |--20171220_170540.jpg
|  |  |  |  |--20171220_170559.jpg
|  |  |  |  |--20171220_170607.jpg
|  |  |  |  |--20171220_170615.jpg
|  |  |  |  |--20171220_170626.jpg
|  |  |  |  |--20171220_170630.jpg
|  |  |  |  |--20171220_170633.jpg
|  |  |  |  |--20171220_170637.jpg
|  |  |  |  |--20171220_170648.jpg
|  |  |  |  |--20171220_170652.jpg
|  |  |  |  |--20171220_170655.jpg
|  |  |  |  |--20171220_170701.jpg
|  |  |  |  |--20171220_170704.jpg
|  |  |  |  |--20171220_170714.jpg
|  |  |  |  |--20171220_170718.jpg
|  |  |  |  |--20171220_170727.jpg
|  |  |  |  |--20171220_170731.jpg
|  |  |  |  |--20171220_170736.jpg
|  |  |  |  |--20171220_170740.jpg
|  |  |  |  |--20171220_170745.jpg
|  |  |  |  |--20171220_170747.jpg
|  |  |  |  |--20171220_170809.jpg
|  |  |  |  |--20171220_170813.jpg
|  |  |  |  |--20171220_170816.jpg
|  |  |  |  |--20171220_170822.jpg
|  |  |  |  |--20171220_170843.jpg
|  |  |  |  |--20171220_170847.jpg
|  |  |  |  |--20171220_170850.jpg
|  |  |  |  |--DSC_0311.jpg
|  |  |  |  |--DSC_0312.jpg
|  |  |  |  |--DSC_0313.jpg
|  |  |  |  |--DSC_0314.jpg
|  |  |  |  |--DSC_0315.jpg
|  |--run_ssd.py
|  |--run_streaming.py
|  |--script_define.conf
|  |--train_scripts
|  |  |--add_input_x.py
|  |  |--convert_PascalVOC_to_TF-Records.sh
|  |  |--freeze_graph.py
|  |  |--freeze_graph.sh
|  |  |--setup_mytrain.sh
|  |  |--train_ssd.sh
|  |  |--train_ssd_continue.sh
|--level4_lane_detection
|  |--README.md
|  |--demo_lane
|  |  |--input1.mp4
|  |--document
|  |  |--cv2_ellipse.png
|  |  |--frame_276.jpg
|  |  |--frame_86.jpg
|  |  |--result_frame_276.jpg
|  |  |--result_frame_276_bin.jpg
|  |  |--result_frame_276_bin_road.jpg
|  |  |--result_frame_276_ellipse.jpg
|  |  |--result_frame_276_histogram.jpg
|  |  |--result_frame_276_sliding_windows.jpg
|  |  |--result_frame_276_tilt.jpg
|  |  |--result_frame_276_white.jpg
|  |  |--result_frame_86_after_ipm.jpg
|  |  |--result_frame_86_after_roi.jpg
|  |  |--result_frame_86_after_roi_sample.jpg
|  |  |--result_frame_86_before_ipm.jpg
|  |  |--result_frame_86_before_roi.jpg
|  |  |--result_frame_86_before_roi_sample.jpg
|  |  |--result_frame_86_ipm.jpg
|  |  |--result_frame_86_roi.jpg
|  |  |--result_frame_86_roi_sample.jpg
|  |  |--result_output1.mp4
|  |--lib
|  |  |--__init__.py
|  |  |--functions.py
|  |--opencv_lane_detection.py
|  |--test_images
|  |  |--frame_137_ipm.jpg
|  |  |--frame_177_ipm.jpg
|  |  |--frame_18_ipm.jpg
|  |  |--frame_267_ipm.jpg
|  |  |--frame_276.jpg
|  |  |--frame_311_ipm.jpg
|  |  |--frame_391_ipm.jpg
|  |  |--frame_86.jpg
|  |  |--frame_86_ipm.jpg
|  |--to_inverse_perspective_mapping.py
|  |--to_region_of_interest.py
|  |--to_white.py
|--level5_demo_streaming
|  |--README.md
|  |--car_client
|  |  |--config.yml
|  |  |--fabolib
|  |  |  |--__init__.py
|  |  |  |--car.py
|  |  |  |--motor.py
|  |  |  |--servo.py
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--spi.py
|  |  |--run_car_client.py
|  |  |--start_button.py
|  |--document
|  |  |--course.jpg
|  |  |--img2.jpg
|  |  |--img3.jpg
|  |--pc_server
|  |  |--config.yml
|  |  |--lib
|  |  |  |--__init__.py
|  |  |  |--functions.py
|  |  |  |--lane_detection.py
|  |  |  |--load_graph.py
|  |  |  |--load_label_map.py
|  |  |  |--mpfps.py
|  |  |  |--mpvariable.py
|  |  |  |--session_worker.py
|  |  |  |--webcam.py
|  |  |--models
|  |  |  |--ssd_mobilenet
|  |  |  |  |--roadsign.pb
|  |  |  |  |--roadsign_label_map.pbtxt
|  |  |--server.py
|  |  |--tf_utils
|  |  |  |--__init__.py
|  |  |  |--label_map_util.py
|  |  |  |--protos
|  |  |  |  |--__init__.py
|  |  |  |  |--string_int_label_map.proto
|  |  |  |  |--string_int_label_map_pb2.py
|  |  |  |--visualization_utils_cv2.py

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