{"id":164,"date":"2024-04-01T10:42:25","date_gmt":"2024-04-01T08:42:25","guid":{"rendered":"https:\/\/wp.laas.fr\/arpon\/?p=164"},"modified":"2024-09-22T12:30:54","modified_gmt":"2024-09-22T10:30:54","slug":"modification-of-the-perception-pipeline-new-available-sensors","status":"publish","type":"post","link":"https:\/\/wp.laas.fr\/arpon\/2024\/04\/01\/modification-of-the-perception-pipeline-new-available-sensors\/","title":{"rendered":"Modification of the perception pipeline: new available sensors!"},"content":{"rendered":"<p>During this last year, we have completely modified the perception process to improve its performance. Indeed, the detection errors were at the core of the residual oscillations that can be seen in our first results (see <a href=\"https:\/\/wp.laas.fr\/arpon\/2022\/10\/15\/an-important-milestone-reached-first-autonomous-navigation-in-orchards\/\" target=\"_blank\" rel=\"noopener\">here<\/a>). First, we have replaced our detection algorithm based on 3D data only, with a pipeline based on YOLO plus a particle filter to:<\/p>\n<ul>\n<li>use both 2D and 3D data provided by the camera<\/li>\n<li>enable tracking in addition to detection<\/li>\n<\/ul>\n<p>To do so, we decided to improve the equipment of our robot, adding:<\/p>\n<ul>\n<li>One Intel RealSense RGBD D455 camera in front to get more data and prepare the future obstacle detection process<\/li>\n<li>One GPU Xavier Nx 64 Go to improve the computation capacity<\/li>\n<\/ul>\n<p>You can see here the evolution of the robot equipment during the project:<\/p>\n<div id=\"attachment_204\" style=\"width: 860px\" class=\"wp-caption alignnone\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-204\" class=\"wp-image-204 size-full\" src=\"https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/04\/plateforme.png\" alt=\"\" width=\"850\" height=\"435\" srcset=\"https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/04\/plateforme.png 850w, https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/04\/plateforme-300x154.png 300w, https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/04\/plateforme-768x393.png 768w\" sizes=\"auto, (max-width: 850px) 100vw, 850px\" \/><p id=\"caption-attachment-204\" class=\"wp-caption-text\"><em><strong>The final equipment (2024): 5 cameras, one LIDAR (right: topview).<br \/><\/strong><\/em><\/p><\/div>\n<div id=\"attachment_165\" style=\"width: 730px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-165\" class=\"wp-image-165 size-large\" src=\"https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/09\/Instrumentation-1024x820.jpg\" alt=\"\" width=\"720\" height=\"577\" srcset=\"https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/09\/Instrumentation-1024x820.jpg 1024w, https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/09\/Instrumentation-300x240.jpg 300w, https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/09\/Instrumentation-768x615.jpg 768w, https:\/\/wp.laas.fr\/arpon\/wp-content\/uploads\/sites\/12\/2024\/09\/Instrumentation.jpg 1167w\" sizes=\"auto, (max-width: 720px) 100vw, 720px\" \/><p id=\"caption-attachment-165\" class=\"wp-caption-text\"><em><strong>The robot equipment evolution between 2021 and 2023.<\/strong><\/em><\/p><\/div>\n","protected":false},"excerpt":{"rendered":"<p>During this last year, we have completely modified the perception process to improve its performance. Indeed, the detection errors were [&hellip;]<\/p>\n","protected":false},"author":20,"featured_media":204,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7],"tags":[11,50,51],"class_list":["post-164","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-informations","tag-agilex-hunter-2-0","tag-perception-process","tag-yolo","post-with-thumbnail","post-with-thumbnail-large"],"_links":{"self":[{"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/posts\/164","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/users\/20"}],"replies":[{"embeddable":true,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/comments?post=164"}],"version-history":[{"count":6,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/posts\/164\/revisions"}],"predecessor-version":[{"id":210,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/posts\/164\/revisions\/210"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/media\/204"}],"wp:attachment":[{"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/media?parent=164"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/categories?post=164"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/wp.laas.fr\/arpon\/wp-json\/wp\/v2\/tags?post=164"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}