Simple object detection with YOLOv4 in C++ on ROS.

YOLOv4 paper: "YOLOv4: Optimal Speed and Accuracy of Object Detection"

First install darknet to use the YOLOv4 object detector using make in the darknet repository. In the Makefile set:

• GPU=1 to build enabling CUDA support (OPTIONAL)
• OPENCV=1 to build with OpenCV
• LIBSO=1 to build the library darknet.so

Once darknet installed just go to your catkin workspace root directory and build using catkin_make.

Set the correct camera topic name in the launch file yolo_object_detection.launch in the launchfolder and start with

$ roslaunch yolo_object_detection yolo_object_detection.launch