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Image Generation for Efficient Neural Network Training in Autonomous Drone Racing

This repository contains the source code for the paper "Image Generation for Efficient Neural Network Training in Autonomous Drone Racing" accepted at the WCCI 2020 congress.

Illustration

Watch the video: Watch the video

ROS nodes

The nodes that can be ran onboard are located in the following packages:

  • controllers: which runs the camera driver, the Vicon bridge and the safety cage
  • img_center_alignment: which is the state machine and PID controller
  • perception: which runs the two CNNs (bounding box detection + distance estimation)

To build those, simply place them in your catkin workspace and run catkin build (or catkin_cmake if using the legacy build system). The Catkin Command Line Tools build system is recommended.

The three launch files are controllers control_inteldrone.launch, perception detector.launch, and img_center_alignment controller.launch. It is required to launch them in that specific order. Note that it is also recommended to launch the perception node on a stationary computer, since the inference is quite demanding.

Environment & Requirements

In order to run the perception node, it is best to use the default Python2.7 provided with ROS Kinetic along with a virtualenv environment.

A virtual environment can be created with the given requirements.txt dependency list, as such:

virtualenv myenv
source myenv/bin/activate
pip install -r requirements.txt

Dataset creation

Use the hybrid-dataset-factory project, which can be found at https://github.com/M4gicT0/hybrid-dataset-factory. The mesh files used to generate the dataset in this paper can be found in the meshes/ folder.

Gate detection

The complete CNN model and code is provided in the perception package. However, if one desires to study the code in detail, the repository is available at https://github.com/M4gicT0/mobilenet_v2_ssdlite_keras in the custom_dataset branch.

Gate distance estimation

For the distance estimation, only the saved model is given in the perception package. The source code is available at https://github.com/M4gicT0/GatePoseEstimator. It is still a work-in-progress but feel free to contribute.