junhyeok96 / autonomous-driving-vision Goto Github PK
View Code? Open in Web Editor NEW:car: 딥러닝, 3D camera, 자율 주행 로봇를 위한 인도 장애물 탐지
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장애물 탐지 각도
장애물과의 각도 측정을 이미지 픽셀이 아닌 실제 위치를 파악하여 구분이 필요함
연산속도 최적화
서버 연산속도가 약 0.1초 정도로 느린 수준임.
현재
segmentation - 0.3초
point cloud -> depth -0.2초
5m거리에서 yolo, 2.5m 거리에서 yolo가 사용됨 - 0.2초 *2
api속도 문제
flask를 통해 이미지 분석결과를 전송하는 api를 만들었다.
jetson nano 보드에서 서버로 이미지를 전송하고 결과를 얻어오면
약 2~4초 사이에 지연시간이 생긴다. jetson nano의 계산속도로 인해 서버를 도입했지만
네트워크 속도라는 새로운 문제가 발생했다.
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