Perception

This repository is for the Perception part of the Autonomous-Driving-System project.

---

Train Dataset

• Gazebo

  • Traffic Light
    • Red (546 images)
    • Yellow (451 images)
    • Green (599 images)
  • RoundAbout (890 images)
  • Crosswalk (926 images)

• Real World

  • Traffic Light
    • Red (360 images)
    • Yellow (30 images)
    • Green (211 images)
  • RoundAbout (350 images)
  • Crosswalk (296 images)
  • Lane

---

Labelling

• Tools
  • https://github.com/HumanSignal/labelImg
  • https://github.com/labelmeai/labelme (For lane detection)

---

Model

• Yolov8
  • https://docs.ultralytics.com/ko
  • https://github.com/ultralytics/ultralytics

---

Usage

• /data/main.py

  • Make raw dataset from rosbag

• /object_detect/objectDetect.py

  • Detect object in Gazebo simulation

• /object_detect/real.py

  • Detect object in real world