YOLO-Dynamic-ROS

Baseline of this code is strongly this official repository. Original README is in the followed link. However, this code has been a problem of dynamic allocation in scheduling and threading during parsing real-time images. Therefore, edited author fixes below issues: from v1 to v7. In addition, the edited author adds tracking function to YOLO by Linear Kalman Filter.

Original Author: Marko Bjelonic, [email protected]
Edited Author : Byung-KwanLee ([email protected])

V7 : solve all of the memory issue

• Divide two cpp function for yolo and lane
• Completely solve memory issue considering sharing resource using boost lock

V6 : classify objects which lane they are in

• Subscribe lane detection information lane_msgs/lane_array.h, lane_msgs/lane.h
• Classify objects which lane they are in, on the top view, without vanishing point
• Remove boundingbox (made by developer in original ros yolo), then simplify publish procedure
• Chage protocol of darknet_ros_msgs, more specific
• Eigen data type change, MatrixXd -> MatrixXf, VectorXd -> VectorXf (double -> float)

V5 : memory Issue

• Manage Dynamic Memory Allocation and Remove
• Critical Issue for real-time
  • Check CPU Resource
  • Should be analyzing resource of tracking_thread function made by LBK
• Extra Memory Issue (V5*)
  • Synchronization with darknet free code and tracking thread
  • Keeping prediction without detection

V4 : depth extraction from detected and tracked objects

• Add boundingbox message to distacne from the object

V3 : real-time object tracking by linear kalman filter

• Adding Kalman Filter on the Detection thread
• Transition and Updating Error Covariance
• Dynamic Allocation and Remove Completely
• Transfer variables on each member function with no Sync Error
• Publishing Object ID with Bounding Box info for sensor fusion

V2 : matching and multithread for tracking

• Matching tech by class
• Completely generate multi thread for tracking 30HZ

V1

• CompressedImage subscriber (Image topic inavailable, camera callback function)
• solution for exit code -11 (gdb : Segmentation error)
• no visualization imageview
• publish Image and CompressedImage message