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Code for my recent paper. Feedback appreciated. Thank you. :)


Our paper is accepted in IROS-2020.


This is just hitting the nerve of Quora. :D

May be, there may be some answers which can really be helpful.


The top-down view problem is what I was facing when I was trying to use a detection model for a project with quadcopters. For this I had to train my object detector with the data we collected from that view. YOLO was used for this work.

Yes, replacing the fine-tuned model with compiled graph should work. I tried to keep it simple and intuitive to change the model so as to allow the use of any other custom models.


Kalman filter is also one good way to reliably keep track of objects under significant obstruction.


Pytorch makes it even more fun.


Yes. I am actually looking into this idea. I thought instead of recurrent yolo, Correlation Filter is much simpler.

I was referring the following papers:

1. https://ethz.ch/content/dam/ethz/special-interest/baug/igp/p...

2. https://zpascal.net/cvpr2018/He_A_Twofold_Siamese_CVPR_2018_...

3. http://openaccess.thecvf.com/content_ECCV_2018/papers/Yunhua...


@mendeza, Thank you for the feedback. I am planning to add detectron models as well to this repository.

Initial intention of this project was to avoid direct dependency of any deep learning framework. I have only used pre-trained models and opencv for this project.

Making a tool for data labeling is an awesome idea. I will definitely like to work on it. We can collaborate on this if possible. You are also welcome to send in your pull requests.


This is a good idea! TF Object Detection framework takes a lot of effort to use on simple ideas, so frameworks that enable more abstraction the better!


Okay, I am not sure about others. But I was working on this as a fun project. And I wanted to share my work. Hope you find it useful and please let me know your suggestions and any additional improvements I can make.


Education should not be this expensive. If at all, it can be competitive. But it should be available and affordable to all. U of Chicago is not a best place to be in.


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