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YOLOX-ROSの紹介.pdf
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YOLOX-ROSの紹介.pdf
1.
YOLOX-ROSの紹介 Ar-Ray(GitHub: github/Ar-Ray-code)
2.
自己紹介 • 高専専攻科2年(≒ 大学4年生) •
2020~ ブログを書いています!(最近は月3本程度💦) • ロボットベンチャー企業でアルバイトしています←後述 • 2021~ 高専生向けにROSの講習会を実施(ROSjp #45) 来月までには大きな発表ができるかも…?
3.
YOLOXとは何なのか • YOLOXのROS2移植パッケージ • YOLOXとは(GitHub
(Megvii-BaseDetection/YOLOX)からの引用) アンカーフリーな物体検出プログラム Yolov3〜v5と比べて高性能(らしい) Apache 2.0 License! 学習はPyTorchだが、実行は広く対応(TensorRT、ONNX、OpenVINO、 ncnn...) • スター数100超え(https://github.com/Ar-Ray-code/YOLOX-ROS)
4.
環境構築(Galactic) • ROS2- Foxy/Galactic/Rollingに対応(Humble対応予定) •
ONNX Runtimeが最もサポートが広いのでこのバージョンを推奨 NVIDIA GPUならGPU処理が効く (onnxruntime-gpu) X86-64 CPUだと結構速く実行できる > sudo apt install ros-galactic-desktop ros-galactic-v4l2-camera > source /opt/ros/galactic/setup.bash > pip3 install yolox # Jetsonは依存pkgの手動インストールが必要 > git clone https://github.com/Ar-Ray-code/YOLOX-ROS.git --recursive ~/ros2_ws/src/YOLOX-ROS > cd ~/ros2_ws/ > colcon build --symlink-install# Jetsonは依存pkgの手動インストールが必要 > source ~/ros2_ws/install/setup.bash > ros2 launch yolox_ros_py yolox_nano_onnx.launch.py video_device:=/dev/video0 【構築】 【実行】
5.
YOLOX-ROSのデモプログラム Webカメラ (v4l2-camera) 画像 (image-publisher) 動画 (YouTube-publisher)
6.
YOLOX-ROSのデモプログラム Gazebo Unity (RenderTexture2ROS2Image)
7.
採用事例 HarvestX株式会社 ・植物工場向けの授粉・収穫ロボットの開発 ・イチゴや花の検出部分のYOLOXへの乗り換え イチゴ検出の様子 (アルゴリズム変更前) 植物工場の環境
8.
速度編
9.
対象デバイス
10.
YOLOX-ROSの対応状況 Python3 デモプログラムの実行用 C++ (TensorRT・OpenVINO) 実装向け・高速 C++の実装は全てComposableNodeです
11.
• C++ TensorRTを使用(ROS2-Galactic) •
Jetsonは以下の3種類を使用 Jetson Nano (4GB) Jetson AGX Xavier (32GB) Jetson AGX Orin (32GB)※ Jetson AGX Orinのみ最新のr34.1 • 開始後10秒後から15秒付近のfps値を参考に比較 開始直後はfpsが落ちる傾向がある • 比較用にdarknet_ros_fp16の実行速度も掲載 darknet_ros_fp16は最新のdarknet-YOLOv4の動作確認用ROS2パッケージ https://github.com/Ar-Ray-code/darknet_ros_fp16 速度(Jetson編)
12.
速度(Jetson編)
13.
速度(Jetson編) 2.8倍 2.7倍 140fps ? 130fps ? 90fps
? Jetson OrinのAI演算性能はRTX2080Ti(Desktop)とほぼ同じ (TensorRTなしの場合) 現時点のTensorRTはJetson Orinに 最適化されていない
14.
速度(その他)
15.
おわりに • ROS2初めてでも、まず使ってみてください! • YOLOX-ROSにissueやプルリクあれば送ってください❗
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