This is the github project for the F1Tenth Independent Study Projects 2021. In this project we are focusing on the development of different approaches to achieve object detection and tracking based on 2D LiDAR. This work is heavily inspired by the paper by Dominic Zeng Wang, Ingmar Posner, and Paul Newman.
- Linux Ubuntu (tested on versions 18.04.5 LTS)/ MacOS BigSur 11.2.3
- Python 3.7.4.
- F1Tenth Gym (tested on version 0.2)
To install this repo please clone it to your local machine:
git clone git@github.com:mlab-upenn/ISP2021-object_detection.git
cd ISP2021-object_detection/Use the provided requirements.txt in the root directory of this repo, in order to install all required modules.
pip3 install -r requirements.txt
The code is developed with Python 3.7.4.
cd wangetall/
python tracker_gym.py [-noplot]Use -noplot to prevent the algorithm from displaying the plot information. Currently plotting is causing significant slowdown of the algorithm. This option should be only used to check the real run-time of the algorithm.
All main scripts depend on the following subfolders:
- wangatall/ contains all the scripts and files needed to run the whole algorithm and is divided into following subfolders
- perception/ contains core parts of the object detection algorithm
| File | Description |
|---|---|
| cleanupstates.py | part of algorithm for removal of unnecessary points for cleaning up memory |
| clearlogs.py | resets the log files |
| coarse_association.py | coarse association part of object tracking algorithm |
| log.py | logger file |
| State.py | Maintains the state of the tracked objects |
| tracker_gym.py | Is used to start the algorithm |
| tracker.py | Template for ROS version of the algorithm |
| File | Description |
|---|---|
| cluster.py | clustering algorithm |
| helper.py | helper functions used troughout the code |
| icp.py | algorithm used for coarse association |
| init_and_merge.py | algorithm to init and merge new tracks |
| jcbb_Cartesian.py | cartesian version of jcbb |
| jcbb_numba.py | numba version of jcbb |
| jcbb.py | base version of jcbb |
| lidarUpdater.py | update lidar information |
| lidarUpdaterJCBB.py | update lidar information with numba |
| odomUpdater.py | update odometry information |
| walldetector.py | template for non-model free version of the algorithm for better recognition of walls |