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Obj Following

Object Detection:

  • ROS Melodic cooperating Gazebo 9 and Rviz in Ubuntu 18.04

  • Assembled a RGB-D camera, perpendicular to the ground 

  • SSD-based detection with MobileNet v2 as the backbone convolutional network

  • FasterRCNN-ResNet50

  • Environment: Gazebo Empty World

  • Objects: a white bowl, a coca can, a mobile robot, and a red ball

I set different flight heights: 1m, 1.5m, 2m, 2.5m, and the detected object for test is the same model “walking person” in Gazebo. â€‹

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Problems:

  • Camera resolution is not high enough

  • All in simulator

  • Not familiar with the communications between different software

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