Monocular Depth Estimation and Detection of Near Objects

Yıl 2022, , 124 - 131, 31.12.2022

Ali Tezcan Sarızeybek , Ali Hakan Isık

https://doi.org/10.55974/utbd.1177526

Öz

The image obtained from the cameras is 2D, so we cannot know how far the object is on the image. In order to detect objects only at a certain distance in a camera system, we need to convert the 2D image into 3D. Depth estimation is used to estimate distances to objects. It is the perception of the 2D image as 3D. Although different methods are used to implement this, the method to be applied in this experiment is to detect depth perception with a single camera. After obtaining the depth map, the obtained image will be filtered by objects in the near distance, the distant image will be closed, a new image will be run with the object detection model and object detection will be performed. The desired result in this experiment is, for projects with a low budget, instead of using dual camera or LIDAR methods, it is to ensure that a robot can detect obstacles that will come in front of it with only one camera. As a result, 8 FPS was obtained by running two models on the embedded device, and the loss value was obtained as 0.342 in the inference test performed on the new image, where only close objects were taken after the depth estimation.

Anahtar Kelimeler

Monocular Depth Estimation, Object Detection, Obstacle Avoidance, Image Processing

Monoküler Derinlik Tahmini ve Yakın Nesnelerin Tespiti

Öz

Kameralardan elde edilen görüntü 2 boyutlu olduğu için cismin görüntü üzerinde ne kadar uzakta olduğunu bilemeyiz. Bir kamera sisteminde sadece belirli bir mesafedeki nesneleri algılamak için 2 boyutlu görüntüyü 3 boyutluya dönüştürmemiz gerekir. Derinlik tahmini, nesnelere olan mesafeleri tahmin etmek için kullanılır. 2 boyutlu görüntünün 3 boyutlu olarak algılanmasıdır. Bunu uygulamak için farklı yöntemler kullanılsa da, bu deneyde uygulanacak yöntem, tek bir kamera ile derinlik algısını tespit etmektir. Derinlik haritası elde edildikten sonra elde edilen görüntü yakın mesafedeki nesneler tarafından filtrelenecek, uzaktaki görüntü kapatılacak, nesne algılama modeli ile yeni bir görüntü çalıştırılacak ve nesne algılama gerçekleştirilecektir. Bu deneyde istenilen sonuç, düşük bütçeli projeler için çift kamera veya LIDAR yöntemlerini kullanmak yerine, bir robotun önüne gelecek engelleri tek kamera ile tespit edilmesini sağlamaktır. Sonuç olarak, gömülü cihaz üzerinde iki model çalıştırılarak 8 FPS elde edilmiş ve derinlik tahmini sonrası sadece yakın nesnelerin alındığı yeni görüntü üzerinde yapılan çıkarım testinde kayıp değeri 0.342 olarak elde edilmiştir.

Anahtar Kelimeler

Monoküler Derinlik Tahmini, Nesne Tespiti, Engelden Kaçınma, Görüntü İşleme

Kaynakça

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