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Sensor_Data_Fusion

Introduction

This is a program that fuses mmWave radar and camera information. At the same time, YOLOv4 is used for target detection. The program focus on the spatio-temporal alignment of camera and mmWave radar, and radar target points are mapped into camera images. The detection part is not completed, the method used now is simple.

Requirements

  • Linux Ubuntu (tested on version 16.04 and 18.04)
  • CUDA 9.0
  • cuDNN 7.6.3
  • ROS Kinetic or ROS Melodic
  • TensorRT 5.0.1
  • OpenCV 3.3.1

If you use Jetson Nano or TX2, JetPack can get all the required above, and my installation version is JetPack3.3

Installation

create a ROS workspace and copy the repo to the workspace

#compile header file first
catkin_make -DCATKIN_WHITELIST_PACKAGES='mymsg'
#then
catkin_make -DCATKIN_WHITELIST_PACKAGES=''
#
source devel/setup.bash

in src/ folder, ui_start.sh can be used through

#remind 'chmod a+x ui_start.sh' to give execution permission
./ui_start.sh

in root folder, start_1radar_1camera.sh can open all ROS nodes, the use of script is same as ui_start.sh

Usage&Outputs

in src/yolo_detection/ folder, you need to create a model folder, and put your detection weights file here.

GUI:

rqt_graph result:

The last detection node is missing in the image, because my notebook does not have CUDA, cuDNN installed

space fusion result:

detection result sample:

Notice

I can't remotely connect to my desktop, so the above is mostly from memory, some parts may be inaccurate, I will continue to improve when I get back to school.