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Archive of posts published in the category: balancapSDCVehicleDetection

GitHub – balancap/SDC-Vehicle-Detection: Udacity Project

The goad of this project is to implement a robust pipeline capable of detecting moving vehicles in real-time. Even though the project was designed for using classic Computer Vision techniques, namely HOG features and SVM classifier, in agreement the course organizers, I decided like a few other students to go for a deep learning approach.

Several important papers on object detection using deep convolutional networks have been published the last few years. More specifically, Faster R-CNN, YOLO and Single Shot MultiBox Detector are the present state-of-the-art in using CNN for real-time object detection.

Even though there are a few differences between the three previous approaches, they share the same general pipeline. Namely, the detection network is designed based on the following rules:

  • Use a deep convolutional network trained on ImageNet as a multi-scale source of features. Typically, VGG, ResNet or Inception;
  • Provide a collection of pre-defined anchors boxes tiling the image at different positions and scales. They serve the same purpose as the sliding window approach in classic CV detection algorithms;
  • For every anchor box, the modified CNN provides a probability for every class of object (and a no detection probability), and offsets (x, y, width and height) between the detected box and the associated anchor box.
  • The detection output of the network is post-processed using a Non-Maximum Selection algorithm, in order to remove overlapping boxes.

For this project, I decided to implement the SSD detector, as the later provides a good compromise between accuracy and speed (note that the last YOLOv2 article describes in fact a SSD-like network).

The author of the original SSD research paper had implemented SSD using the framework Caffe. As I could not find any satisfying TensorFlow implementation of the former, I decided to write my own from scratch. This task was more time-consuming than I had originally thought, but also allowed me to learn how to properly write a large TensorFlow pipeline, from TFRecords to TensorBoard! I left my pure SSD port in a different GitHub repository, and modified it for this vehicle detection project.

SSD architecture

As previously outlined, the SSD network used the concept of anchor boxes for object detection. The image below illustrates the concept: at several scales are pre-defined boxes with different sizes and ratios. The goal of SSD convolutional network is, for each of these anchor boxes, to detect if there is an object inside this box (or closely), and compute the offset between the object bounding box and the fixed anchor box.

In the case of SSD network, we use VGG as a based architecture: it provides high quality features at different scales, the former being then used as inputs for multibox modules in charge of computing the object type and coordinates for each anchor boxes. The architecture of the network we use is illustrated in the following TensorBoard graph. It follows the original SSD paper:

  • Convolutional Blocks 1 to 7 are exactly VGG modules. Hence, these weights can be imported from VGG weights, speeding massively training time;