Demo Feedback and Speeding up the Perception Pipeline After a successful demo 2 in which Ike and I showed off the merged perception and CSM functionalities, I focused on speeding up the perception pipeline in an effort to get closer to our real-time tracking goal and have motor movement decisions Read more…
Integrating Perception Pipeline into the CSM This week, after a successful first demo showing object tracking and object detection working independently, Ike and I started talking about integrating InFrame’s software together. Mainly, this work involved getting a basic understanding of how the CSM calls the Perception pipeline and verifying that Read more…
Demo 1 and Multi-threading Frame Reads This week, for our first demo, I showed object detection working on live camera feed at a rate of about 10 FPS and object tracking working on a pre-recorded video of me skateboarding which ran at about 15 FPS. These FPS numbers are concerning, Read more…
Tracking Objects! This week, I mainly focused on finalizing the perception pipeline. This work involved installing the OpenCV contrib library on the Nano (surprisingly complicated actually) and making use of OpenCV’s various object tracking implementations to evaluate their performance on the Jetson Nano. Of all the different tracking methods that Read more…
Object Detection and OOP in Python This week, I started working on an outline of the perception pipeline and I implemented a first version of object detection. The Jetson Nano image includes the NVIDIA Jetpack SDK which makes developing and deploying AI solutions a breeze. All I really had to Read more…
Perception Pipeline, Virus Edition This week, given the COVID-19 outbreak, the team discussed the refocussing decisions needed to be made in order to complete the project by working remotely. I mainly redesigned the perception pipeline to accomodate for the fact that it will likely be implemented and tested with a Read more…
Last week, in addition to documenting all the design choices made with regards to InFrame’s Perception stack in our Design Document, I started playing around with the Jetson Nano to see the extent of its capabilities. Some preliminary findings worth noting are: Interfacing with the PiCam is not entirely straightforward. Read more…
Finalizing InFrame’s Perception Stack This week, I worked mainly on finalizing the CV design and on doing some research regarding benchmarks for the Jetson Nano’s performance on popular Deep Learning models. One of the biggest discussions that we’ve had so far is about the computing capabilities that we’ll need on Read more…
Finalizing Design + CV Research This week, we mainly worked together on finalizing the goals, requirements and solutions that drove and will continue to drive the discussion around the design of our system. Some of the key outcomes from these discussions were: Defining metrics and verification methods for the “smoothness” Read more…
Form-Factor and Part Design The design of InFrame’s enclosure will play a key role in the appeal of the finalized product. A fair bit of the discussions that we had this week revolved around the form-factor that we wanted InFrame to take. Due to InFrame’s 2 degrees of freedom Read more…