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Team Status Report for 3/8/2025

A change was made to the existing design – specifically, the machine learning model used in the walk sign subsystem was changed from a YOLO object detection model to a ResNet image classification model. This is because the subsystem needs be able to actually classify images as either containing a WALK sign or DON’T WALK sign, so an object detection model would not suffice. No costs were incurred by this change other than the time spent adding bounding boxes to the collected dataset. One risk is the performance of the walk sign image classification model when evaluated in the real world. It is possible that images captured by the camera when mounted on the helmet are different (blurrier, taller angle, etc.) than the images the model is trained on. This can definitely affect its performance, but now that the camera has arrived, we can begin testing this and adjust our dataset accordingly.

Part A (written by Max): The target demographic of our product is the visually impaired pedestrian population, but the accessibility of pedestrian crosswalks around the world varies greatly across countries, cities, and even neighborhoods within a single city. It is common to see sidewalks with tactile bumps, pedestrian signals that announce the WALK sign and the name of the street, and other accessibility features in densely populated downtowns. However, sidewalks in rural neighborhoods or less developed countries often do not have any of these features. The benefit of the Self-Driving Human is that it would work at any crosswalk that has the signal indicator. As long as the camera can detect the walk sign, then the helmet is able to run the walk sign classification phase and navigation phases without any issues. Another global factor is the different symbols used to indicate WALK and DON’T WALK. For example, Asian countries often use an image of a green man to indicate WALK, while U.S. crosswalks use a white man. This can only be solved by training the model on country-specific datasets, which might not be as readily available in some parts of the world.

Part B (written by William): The Self-Driving Human has the potential to influence cultural factors by reshaping how society views assistive technology for the visually impaired. In particular, our project would increase mobility and reduce reliance on caregivers for its users. This can lead to cultural benefits like increased participation in certain social events as the user gains more autonomy. Ideally, this would lead to greater inclusivity in city design and social interactions. Additionally, our project could promote a standardized form of audio-based navigation, influencing positive expectations about accessible infrastructure and design. We hope this pushes for broader adoption of assistive technology-driven solutions, which could result in the development of even more inclusive and accessible technologies.

 

Part C (written by Andrew): The smart hat for visually impaired pedestrians addresses a critical need for independent and safe navigation while keeping key environmental factors in mind. By utilizing computer vision and GPS-based obstacle detection, the device minimizes reliance on physical infrastructure such as paving and audio signals, which may be unavailable or poorly maintained in certain areas. This reduces the dependency on city-wide accessibility upgrades, making the solution more scalable and effective across diverse environments. Additionally, by incorporating on-device processing, the system reduces the need for constant cloud connectivity, thereby lowering energy consumption and emissions associated with remote data processing. Finally, by enabling visually impaired individuals to navigate their surroundings independently, the device supports inclusive urban mobility while addressing environmental sustainability in its design and implementation.

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William Shaw’s Status Report: 3/8/2025

This week, the rest of the critical parts arrived. As such, I was able to move into the testing phase for the components. Since I am still in the earlier stages of testing and integrating the components, my focus has been primarily on the setup process and ensuring basic connectivity. First, for the camera (IMX219), it is connected via CSI-2, so the system detects it under “/dev/video*; v4l2-ctl –list-devices”, instead of with “lsusb”. I then made sure that v4l-utils and gstreamer were installed and updated to interact with the camera. More testing needs to be done to actually access the video feed, but the device is being detected. Second, for the IMU (BNO055), it communicates over I2C. As such, I use the command “i2cdetect” to check that the module is detected on the I2C bus of the Jetson Orin Nano. Next, I will use the smbus python library to read the raw sensor data. 

I also worked on configuring the Jetson Orin Nano for headless operation, ensuring that we can all access and interact with the system without needing an external monitor, keyboard, and mouse. Headless will be the operation mode for the project’s final phase, as we will not be able to have a monitor attached to the user. This is done through SSH’ing on my laptop. I also set up VNC (Virtual Network Computing) to get a visual remote desktop. Initially, I was experimenting with using Vino, but that has varying performance depending on the exact Jetson device being used. As such, I ended up swapping to x11vnc. This can be connected to using the built-in VNC client on a MacBook (“Screen Sharing” app). Separately, there were some initial issues with getting the wifi to work properly (due to some user privilege issues), but they have been resolved. 

Regarding the schedule, I am about a week behind the Gantt chart. This is because I did not consider that Spring Break was my “Week 5”, so I misjudged the actual dates. I plan to finish testing of each component by this week to get back on schedule. I also want to double check that the Jetson Orin Nano works on CMU-Secure/Device, as I have just been testing on my home network.

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Andrew Wang’s Status Report: 3/8/2025

This week, I worked on fine-tuning the pretrained YOLOv8 models for better performance. Previously, the models worked reasonably well out of the box on an out of distribution dataset, so I was interested in fine-tuning it on this dataset to improve the robustness of the detection model.

 

Unfortunately, so far the fine-tuning does not appear to help much. My first few attempts at training the model on the new dataset resulted in the model not detecting any objects, and marking everything as a “background”. See below for the latest confusion matrix:

 

I’m personally a little confused as to why this is happening. I did verify that the out of the box model’s metrics that I generated for my last status report are reproducible, so I suspect that there might be a small issue with how I am retraining the model, which I am currently looking into.

Due to this unexpected issue, I am currently a bit behind schedule, as I had previously anticipated that I would be able to finish the fine tuning by this point in time. However, I anticipate that after resolving this issue, I will be back on track this week as the remaining action items for me are simply to integrate the model outputs with the rest of the components, which can be done regardless of if I have the new models ready or not. Additionally, I have implemented the necessary pipelines for our model evaluation and training for the most part, and am slightly ahead of schedule in that regard relative to our Gantt chart.

For this week, I hope to begin coordinating efforts to integrate the object detection models’ output to the navigation modules in the hardware, as well as resolving the current issues with the model fine-tuning. Specifically, I plan on beginning to handle the miscellaneous code that will be required to pass control between our modules.

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Max Tang’s Status Report for 3/8/2025

This week I worked on training and tuning the walk sign image classification model. I made a major design change for this part of the system: instead of using a YOLO model that is trained for object detection, I decided to instead switch to an off-the-shelf ResNet model that I was able to fine tune with our own custom dataset. I initially thought that a YOLO model would be best since the system would need to find the walk sign signal box in an image and create a bounding box, but the issue is that this wouldn’t be able to classify the image as either a WALK or DON’T WALK. ResNet is just a convolutional neural network that can output labels, so as long as it is trained on enough high quality data, it should still be able to find the walk sign in an image. The training and evaluation is easily done in Google Colab:

 

More data needs to be collected to improve the model and increase its ability to generalize, as the current model is overfitting to the small dataset. Currently, finding high quality images of the WALK sign has been the main issue, as Google Maps tends to only have pictures of the DON’T WALK sign, and I can only take so many pictures of different WALK signs throughout the day. The good news is that retraining the model can be done very quickly, as the model is not that large so that it fits on the microcontroller. Now that I have the model finally working, I can focus my time next week on further data collection. Progress is still somewhat on schedule, but I will need to work on integrating this from my local machine onto the board soon.

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Andrew Wang’s Status Report – 02/22/2025

This week, I was able to begin the evaluation and fine-tuning of a few out of the box YOLO object detection models. More specifically, I used the YOLOv8x, which is a large, high performance model trained on the COCO dataset.

For evaluation, we were advised to be wary of the robustness of the object detection models with regards to its performance on out-of-distribution data, as previous teams have run into difficulty when trying to use the models in a real world setting. Since the validation metrics of the model on the COCO dataset are already available online, so I decided to use the validation set of the BDD100k dataset to determine the level of performance decay on a out-of-distribution dataset to mimic performance in a real world setting.

So far, it appears that the out of the box model does reasonably well on the new dataset out of distribution. I first generated a confusion matrix to examine how well the model does on each class. Note that our evaluation dataset only contains the first 10 labels of the YOLO model, and so only the top left square of the matrix should be considered in our evaluation:

It appears that the model mistakingly assigns a “background” label to some images that should be been classified as another item on the road, which is especially troublesome for our use case. Besides this, the accuracy appears somewhat reasonable, with some notable off-target predictions. I also generated a precision-recall across the different classes:

It appears that the model struggles most with identifying traffic lights and trains. However, in our use case of crossing the road, these two objects are definitely less important to detect in comparison to the other categories, so I’m not personally too worried about this. As a whole, the mAP metrics across the other labels seem reasonable compared to the reported mAP metrics of the same models on the COCO dataset. Considering that these models weren’t trained on this new BDD100k dataset, I’m cautiously optimistic that they could perform well in our testing as is, even without extensive fine-tuning.

Finally, I generated a few example images with the model predictions overlaid to visually depict what the model is doing. Here is an example:
 

The top picture are the images with the reference labels,

and the bottom picture are the same images with our model predictions overlaid. On the top row, the second image to the left stood out to me, since our model detected trains where there weren’t any. To me, this might be an interesting dive point into why our model does so poorly with regards to detecting trains, although given that we have established that trains aren’t as important in our use case, we might not need to do a detailed analysis if time is tight.

With regards to progress, I believe that I am about on track as per our Gantt chart; I have been able to complete preliminary evaluation of the object detection models, and I have also started implementing a fine-tuning pipeline, in order to incorporate more datasets into the out of the box models we are currently using.

Next week, I plan on moving into the second part of my deliverables; writing out a pipeline to handle the outputs from our model with regards to navigation. I plan on brainstorming how to make proper use of the detection model inputs, as well as how they should be integrated into the larger navigation module that we have planned. I also plan on gathering some more datasets such that I can make use of the fine-tuning pipeline I already have implemented to develop even better object detection models, such that we have a wider array of options when we are ready to our integrated project.

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Team Status Report for 2/22/25

The performance of the image classification and object detection models remain as the most significant risks, but these will only be revealed once we start actually testing them with data collected from our camera which has not arrived yet. For now, the contingency plan would be to switch models or perhaps make the scope of our input data or images that we want to classify smaller so that the models have an easier time with recognition. One change we made to the existing design was the camera we planned on using. We initially wanted a camera with a large field of view to try and capture as much of the environment as possible, but we realized that this would make the image size too large and make recognition harder.

With regards to the object detection model development, we plan to continue developing fine-tuned YOLO models. Initial testing of pre-trained models on out-of-distribution data (BDD100k validation dataset) yielded reasonable results, but we might want to consider leaning heavier on fine-tuned models for testing such that we have models trained on a wider variety of data. There is a significant risk that fine-tuning the existing models might not even be sufficient for accurate models when we integrate and test, however, and so our contingency plan is to continue collecting and processing more diverse datasets in an effort to boost performance.

In terms of hardware, we chose to delay ordering a sound card as we are considering using bone-conduction earphones for safety. They block less ambient noise and can be connected via Bluetooth. Testing for audio can be done through the DisplayPort connector, as the audio drivers should be identical regardless of which headphones we end up choosing. For power, we have ordered a USB-C PD to 15V 5A DC Barrel Jack converter. This fits into the power requirements while allowing us to use a PD Powerbank instead of a more esoteric Powerbank with a DC output.

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William Shaw’s Status Report – 02/22/2025

This week, I ordered the other essential parts. This included the GPS module and a USB-C to DC barrel jack adaptor. Neither of these are technically system-critical as of right now, but ordering them together saved on shipping costs from Adafruit. I opted to wait on ordering the USB Sound Card, as the driver used for audio output should not change, and we may opt to use wireless bone conductive earphones instead of the on-ear headphones. This could be a safer alternative, as they block the least ambient noise.

Regarding the Jetson Orin Nano, I spent this week setting it up in preparation for future tasks. This included updating the board’s firmware, loading a new boot image with JetPack SDK, and setting up Ubuntu. After completing these preliminary steps, I moved on to installing the dependencies we would need for future tasks. Many of these were included in the JetPack SDK, so it took less effort than expected. I also began trying to run a few demos like Ollama on the Jetson. Ideally, this makes me more familiar with the platform, which should make later work smoother.

In terms of schedule, I am right on track. The parts should arrive in a few days, which is on schedule for me to begin testing. Next week, I plan to complete much of the testing for interfacing the hardware to the Jetson. I will focus on the camera and the IMU first, as these are our most system-critical components. I also want to begin drafting our overall mounting mechanism.

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Max Tang’s Status Report for 2/22/15

This week I finished collecting all of the pedestrian traffic light data and also began the process of training the YOLOv8 image classification model. I explored collecting data through different ways but ultimately gathered most of my images from Google Earth. I took screenshots at various intersections in Pittsburgh and I varied the zoom distance and angle of each traffic light to get a diverse dataset. I also made sure to find different environmental conditions such as sunny intersections versus shadier intersections. Initially I explored other ways of collecting data such as taking pictures with my phone, but this proved to be too inefficient, and it was too difficult to get different weather conditions and going to different intersections with different background settings (buildings vs. nature) was too hard. I also explored using generative AI to produce images but the models I tried were unable to create realistic images. I’m sure there are models capable of doing so, but I decided against this route. I also found a few images from existing datasets that I added to my dataset.

The next step was to label and process my data. This involved categorizing each image as either “stop” or “go”, which was done manually. The next step was to prepare it for the YOLOv8 model, which involved putting bounding boxes around each pedestrian traffic light box in each image. I did this using Roboflow, a web application that let me easily add bounding boxes and export it in a format that can be directly inputted into YOLOv8. Then it was simply a matter of installing YOLOv8 and running it in a Jupyter Notebook.

Progress was slightly behind due to the initial difficulties with data collection, but I had updated my Gantt chart to reflect this and am on schedule now. Next week I plan on tuning the YOLOv8 model to try and increase the accuracy on my validation dataset, which so far needs improvement.

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Team Status Report for 2/15/2025

Currently, the most significant risk to the project is obtaining high-quality data to use for training our models. This is crucial, as no amount of hyperparameter optimization and tuning will overcome a lack of high-quality and well-labeled data. The images we require are rather specific, such as obstacles in a crosswalk from a pedestrian’s perspective and images of the pedestrian traffic light taken from the sidewalk. We are managing this risk by obtaining data from a variety of sources, such as online datasets, Google Images and Google Maps, and also real-world images. If this does not work, our contingency plan is to perhaps adjust the purpose of our model so that it does not require such specific data.

As outlined in William’s status report for this week, a few updates have been made to the hardware components. First, an additional IMU module is needed for accurate user heading. The FOV of the camera ordered was reduced from 175º (D)  to 105º (D), as we were concerned about image distortion and extraneous data from having such a wide FOV. We chose 105º after some comparisons made using an actual camera to better visualize each FOV’s effective viewport. Having the Jetson Orin Nano on hand also allowed us to realize that additional components were needed to have audio output (no 3.5mm jack was present) and to make the power supply portable (the type-c port does not supply power to the board). These changes did not require any additional cost incurred by incompatible parts, as we have been very careful to ensure compatibility before actually ordering.

Our schedule remains essentially the same as before. For the hardware side, all the system’s critical components will arrive on time to stay on schedule. For the software side, our object detection model development is slightly behind schedule as mentioned in Andrew’s status report for 2/15. We anticipate having several versions of models ready for testing by the end of next week, and will be able to hopefully implement code to integrate it into our broader setup.

We will now go over the week 2 specific status report questions. A was written by William, B was written by Max and C was written by Andrew.

Part A. The Self-Driving Human is a project that is designed to address the safety and well-being of visually impaired pedestrians, both in a physiological and psychological sense. Crossing the street as a visually impaired person is both scary and dangerous. Traditional aids can be absent or inconsistent. Our project provides real-time audio guidance that helps the user cross the road safely, detect walk signals, avoid obstacles, and stay on the crosswalk. Because it is an independent navigation aid, it provides the user with self-sufficiency, as they are not reliant on crosswalk aids being maintained to cross the road. This self-sufficiency is an aspect of welfare, as the ability to move freely and confidently is a basic need. Ideally, our project works to create a more accessible and inclusive environment.

Part B. From a social perspective, the helmet will improve accessibility and inclusivity for visually impaired people and allow them to participate more fully in public life. There are some cities where pedestrian infrastructure is less friendly and accommodating, so this helmet would enable users to still cross streets safely. Economically, this helmet could reduce the need for expensive public infrastructure changes. Politically, solutions like this for the visually impaired can help increase awareness of the need for accessible infrastructure.

Part C. The traditional method of assisted street crossing/pedestrian navigation for the visually impaired involves expensive solutions such as guide dogs. While there is a significant supply of assistance, these methods might not be broadly accessible to consumers in need of them with regard to economic concerns. As such, we envision our project to serve as a first step in presenting an economically viable solution, able to be engineered with a concrete budget. As all of the navigation and feedback capabilities will be built directly into our device and will have been appropriately developed before porting them to the hardware, we anticipate that our (relatively) lightweight technology can increase the accessibility of visually impaired navigation assistance on a budget, as the development and distribution our project can be scaled with the availability of hardware, helping resolve consumption patterns.

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Andrew Wang’s Status Report for 2/15/2025

This week, I was able to gain access to a new computing cluster with higher amounts of storage and GPU availability late into the week. As such, I began downloading an open source objection detection dataset, BD100K, from Kaggle onto the cluster for evaluation/fine-tuning. After all of the images were downloaded (the version I downloaded had 120,000+ images), I was able to start working on the implementation of the evaluation/fine-tuning pipeline, although this is still a work in progress.

With regards to schedule, I believe that I am slightly behind schedule. Due to some issues with gaining access to the cluster and the download time required to fetch a large dataset, I did not anticipate not being able to work on this until the later half of the week. I would have liked to have finished the evaluation/fine-tuning implementation by this week, and so I anticipate having to put in a bit of extra work this week to catch up and have a few different versions of the model ready to export to our Jetson Nano.

By the end of this week, I hope to have completed the evaluation/fine-tuning pipelines. More specifically, I would like to have concrete results for evaluating a few out of the box YOLO models with regards to accuracy and other metrics, in addition to hopefully have fine-tuned a few models for evaluation.