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  • Tensorflow Object Detection

    Hi everyone,

    We have been using a webcam with our control hub to detect the Skystone position. However, the object detection program keeps combining the stones into one stone. Does anyone know how to fix this issue?

    Thanks!

  • #2
    Unfortunately, I believe that this is the sad truth of TensorFlow this year.

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    • #3
      @P0W3R_ZURG3 This has been discussed over on Reddit. If you decrease the threshold for the TensorFlow confidence level, you may get better results. The default minimum confidence is set to 0.8 in the sample op mode. However, decreasing it to a lower value (0.4, 0.5 or even 0.6) helps since TensorFlow is more likely to identify the adjacent Stones or Skystones next to the target Skystone.

      You can read details on reddit:
      https://www.reddit.com/r/FTC/comment..._makes_it_way/

      Also, here's YouTube video that shows the detection with the threshold set to 0.6. You can see the bounding boxes are fairly consistently centered about the Stone or Skystone:

      https://youtu.be/zyX5suaBjqg

      I hope this helps!

      Tom

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      • #4
        Tom Eng We have been trying this with a 0.3 confidence level, and it still doesn’t work. What do you think we should try?

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        • #5
          Originally posted by P0W3R_ZURG3 View Post
          Tom Eng We have been trying this with a 0.3 confidence level, and it still doesn’t work. What do you think we should try?
          @P0W3R_ZURG3 A confidence threshold of 0.3 is very low! Are you using phone as your Robot Controller or are you in a region that is allowed to use the Control Hub? If you are using a phone, can you see the boundary boxes being drawn around the elements?

          Some important things about the TensorFlow object detection (TFOD) software...

          1. The TFOD calculations are pretty computationally intensive. This means that the detection is relatively low using the typical Android devices (Motorola phones or Control Hub) used in the FIRST Tech Challenge. When you do the detection, is the robot stationary or moving rapidly? One thing to try is to do a static test with the robot not moving and try detecting the elements from a variety of static (non-moving) positions.

          2. For this season's game, whether you are using Vuforia or TFOD to find the Skystones, the camera needs to be relatively close to the elements for accurate detection (perhaps within 1.5 feet or so). How far is your camera from the target elements?

          Tom

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          • #6
            Tom Eng We are using the Control Hub. The boundary boxes are being drawn, but it is very inconsistent, as it combines two stones into one (usually the sky stone and the stone on the right of itself). Our robot is stationary, and cannot see anything but the stones. Our robot is against the wall, and is maybe a little bit farther than 1.5 feet. Any closer, and our webcam (Logitech C720) cannot see the stones we are targeting(set of 3).

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