{"id":13435554,"url":"https://github.com/monsiw/object-detection-yolo","last_synced_at":"2025-03-18T11:31:32.857Z","repository":{"id":65908421,"uuid":"588058085","full_name":"monsiw/object-detection-yolo","owner":"monsiw","description":"The project aims to use a trained model in the YOLO network to detect objects that will be detected by the robot structure with a computer on which ROS has been installed. ROS manages the individual packages used in the project.","archived":false,"fork":false,"pushed_at":"2023-02-22T18:00:56.000Z","size":10392,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-10-27T18:57:51.353Z","etag":null,"topics":["darknet","detection-model","linux","robotics","ros","ros-noetic","yolov3"],"latest_commit_sha":null,"homepage":"","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/monsiw.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2023-01-12T08:19:29.000Z","updated_at":"2023-03-11T21:08:37.000Z","dependencies_parsed_at":"2023-02-23T05:15:12.604Z","dependency_job_id":null,"html_url":"https://github.com/monsiw/object-detection-yolo","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/monsiw%2Fobject-detection-yolo","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/monsiw%2Fobject-detection-yolo/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/monsiw%2Fobject-detection-yolo/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/monsiw%2Fobject-detection-yolo/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/monsiw","download_url":"https://codeload.github.com/monsiw/object-detection-yolo/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244211029,"owners_count":20416572,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["darknet","detection-model","linux","robotics","ros","ros-noetic","yolov3"],"created_at":"2024-07-31T03:00:36.807Z","updated_at":"2025-03-18T11:31:27.847Z","avatar_url":"https://github.com/monsiw.png","language":"C","funding_links":[],"categories":["C"],"sub_categories":[],"readme":"# Object Detection with Robotic Platform\nAn idea of this project is to implement the functionality object recognition on the Intel NUC10i5FNB computer, which is part of a car-like structure (image below). This robot moves using 4 wheels, where the two front wheels are controlled by a servo and the two rear wheels are powered by a motor with a nominal voltage of 12V each. The entire facility is powered by a 5000mAh Bashing lithium polymer battery by GensAce, which can be charged by connecting an external power supply to the dashboard. At the very top of the chassis, there is a HAMA camera for image recording. The board with the programmed controller accepts signals from the computer and distributes them to the wheels.\u003cbr/\u003e\u003cbr/\u003e\n\u003cimg src=\"https://github.com/monsiw/object_detection_yolov5/blob/main/images/3.PNG\" width=\"400\" height=\"200\" /\u003e\n## Start\nIn the workspace you need to build your packages using\u003cbr/\u003e\n*catkin_make*\u003cbr/\u003e\n*source devel/setup.bash*\n## Inference with *darknet_ros* package\nIn order to start inference of chosen model write *roslaunch darknet_ros darknet_ros.launch* in the terminal\u003cbr/\u003e\u003cbr/\u003e\n\u003cimg src=\"https://github.com/monsiw/object_detection_yolov5/blob/main/images/1.png\" width=\"400\" height=\"200\" /\u003e \u003cbr/\u003e\n## Robot movement \u003cbr/\u003e\n*rosrun teleop_twist_keyboard teleop_twist_keyboard.py*\u003cbr/\u003e\u003cbr/\u003e\nThe keys represent the following maneuvers: \u003cbr/\u003e\n• __*u*__  key is responsible for driving forward with the front wheels turned to the right, \u003cbr/\u003e\n• __*i*__  key is responsible for moving forward with the front wheels in the starting position, \u003cbr/\u003e\n• __*o*__  key is responsible for driving forward with the front wheels turned to the left, \u003cbr/\u003e\n• __*j*__  key is responsible for turning the front wheels to the right, \u003cbr/\u003e\n• __*k*__  key stops movement, \u003cbr/\u003e\n• __*l*__  key is responsible for turning the front wheels to the left, \u003cbr/\u003e\n• __*m*__  key is responsible for driving backwards with the front wheels turned to the right, \u003cbr/\u003e\n• __*,*__  key is responsible for driving backwards with the front wheels in the starting position, \u003cbr/\u003e\n• __*.*__  key is responsible for driving backwards with the front wheels turned to the left. \u003cbr/\u003e\u003cbr/\u003e\n\u003cimg src=\"https://user-images.githubusercontent.com/42692566/219169130-8e171972-6bff-45c8-b22f-fa87af437f7b.mp4\" width=\"200\" height=\"300\"\u003e\u003cbr/\u003e\n\u003cbr/\u003e\u003cbr/\u003e\nWith *rosrun rqt_graph rqt_graph* you should see the graph posted below \u003cbr/\u003e \u003cbr/\u003e\n\u003cimg src=\"https://github.com/monsiw/object_detection_yolov5/blob/main/images/2.png\" width=\"400\" height=\"200\" /\u003e\n## Citing\n[1] Arguedas M., et al.: ROS OpenCV camera driver – https://github.com/OTL/cv_camera. \u003cbr/\u003e\n[2] Baltovski T., et al.: teleop_twist_keyboard – https://github.com/ros-teleop/teleop_twist_keyboard. \u003cbr/\u003e\n[3] Bjelonic M.: YOLO ROS: Real-Time Object Detection for ROS – https://github.com/leggedrobotics/darknet_ros. \u003cbr/\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmonsiw%2Fobject-detection-yolo","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmonsiw%2Fobject-detection-yolo","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmonsiw%2Fobject-detection-yolo/lists"}