rasberry_perception

Object detection and vision utilities for the LCASTOR robocup team.

To bring up the detection service, run:

rosrun lcastor_perception object_detector.py

This will provide a rosservice, accepting sensor_msgs/Image messages and returning vision_msgs/Detection2DArray.

The service passes the images on to a Faster R-CNN with Resnet V2 Object detection model, trained on the COCO 2017 dataset. The labels corresponding to the detection IDs are provided in labels.txt.

For a demo, see test_detection_service.py.