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Cainiao-Global-Technology-Competition-2019

The private repo for Cainiao Global Technology Competition 2019 vid HuaHuaGuai.

处理流程

现阶段决定选用VINS Mono作为主要算法,在此基础上进行以下工作:

  • 1. 手机端获取具有时间戳信息的视频和IMU数据
    • 1.1 录制视频以及IMU数据
    • 1.2 时间戳对齐(也可以放在服务端做)
  • 2. 将手机获取的数据,发布为ROS Topic节点
  • 3. 视频逐帧进行语义分割(若速度过慢,采用目标检测代替)
    • 3.1 使用deeplabv3训练语义分割网络
    • 3.2 融合点云图与语义分割信息,生成带有语义信息的点云图
  • 4. 估计物体尺寸
    • 4.1 处理目标物体的点云图,生成最小外接立方体
    • 4.2 使用计数法调优立方体尺寸

额外工作

  • 编写手机app的界面
  • 搭建服务端web架构,处理视频/IMU数据上传工作

文档资源

Paper List

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