中国机器人大赛-先进视觉赛-3d目标检测.zip

# An object Detection method based on YOLOv5 <div align="center"> <p> <a align="left" href="https://ultralytics.com/yolov5" target="_blank"> <img width="850" src="https://github.com/ultralytics/yolov5/releases/download/v1.0/splash.jpg"></a> </p> <br> <div> <a href="https://github.com/ultralytics/yolov5/actions"><img src="https://github.com/ultralytics/yolov5/workflows/CI%20CPU%20testing/badge.svg" alt="CI CPU testing"></a> <a href="https://zenodo.org/badge/latestdoi/264818686"><img src="https://zenodo.org/badge/264818686.svg" alt="YOLOv5 Citation"></a> <a href="https://hub.docker.com/r/ultralytics/yolov5"><img src="https://img.shields.io/docker/pulls/ultralytics/yolov5?logo=docker" alt="Docker Pulls"></a> <br> <a href="https://colab.research.google.com/github/ultralytics/yolov5/blob/master/tutorial.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"></a> <a href="https://www.kaggle.com/ultralytics/yolov5"><img src="https://kaggle.com/static/images/open-in-kaggle.svg" alt="Open In Kaggle"></a> <a href="https://join.slack.com/t/ultralytics/shared_invite/zt-w29ei8bp-jczz7QYUmDtgo6r6KcMIAg"><img src="https://img.shields.io/badge/Slack-Join_Forum-blue.svg?logo=slack" alt="Join Forum"></a> </div> <br> <div align="center"> <a href="https://github.com/ultralytics"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-github.png" width="2%"/> </a> <img width="2%" /> <a href="https://www.linkedin.com/company/ultralytics"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-linkedin.png" width="2%"/> </a> <img width="2%" /> <a href="https://twitter.com/ultralytics"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-twitter.png" width="2%"/> </a> <img width="2%" /> <a href="https://youtube.com/ultralytics"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-youtube.png" width="2%"/> </a> <img width="2%" /> <a href="https://www.facebook.com/ultralytics"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-facebook.png" width="2%"/> </a> <img width="2%" /> <a href="https://www.instagram.com/ultralytics/"> <img src="https://github.com/ultralytics/yolov5/releases/download/v1.0/logo-social-instagram.png" width="2%"/> </a> </div> <br> <p> YOLOv5 🚀 is a family of object detection architectures and models pretrained on the COCO dataset, and represents <a href="https://ultralytics.com">Ultralytics</a> open-source research into future vision AI methods, incorporating lessons learned and best practices evolved over thousands of hours of research and development. </p> <!-- <a align="center" href="https://ultralytics.com/yolov5" target="_blank"> <img width="800" src="https://github.com/ultralytics/yolov5/releases/download/v1.0/banner-api.png"></a> --> </div> ## <div align="center">Documentation</div> See the [YOLOv5 Docs](https://docs.ultralytics.com) for full documentation on training, testing and deployment. ## <div align="center">Quick Start Examples</div> <details open> <summary>Install</summary> [**Python>=3.6.0**](https://www.python.org/) is required with all [requirements.txt](https://github.com/ultralytics/yolov5/blob/master/requirements.txt) installed including [**PyTorch>=1.7**](https://pytorch.org/get-started/locally/): <!-- $ sudo apt update && apt install -y libgl1-mesa-glx libsm6 libxext6 libxrender-dev --> ```bash $ git clone https://github.com/ultralytics/yolov5 $ cd yolov5 $ pip install -r requirements.txt ``` </details> <details open> <summary>Inference</summary> Inference with YOLOv5 and [PyTorch Hub](https://github.com/ultralytics/yolov5/issues/36). Models automatically download from the [latest YOLOv5 release](https://github.com/ultralytics/yolov5/releases). ```python import torch # Model model = torch.hub.load('ultralytics/yolov5', 'yolov5s') # or yolov5m, yolov5l, yolov5x, custom # Images img = 'https://ultralytics.com/images/zidane.jpg' # or file, Path, PIL, OpenCV, numpy, list # Inference results = model(img) # Results results.print() # or .show(), .save(), .crop(), .pandas(), etc. ``` </details> <details> <summary>Inference with detect.py</summary> `detect.py` runs inference on a variety of sources, downloading models automatically from the [latest YOLOv5 release](https://github.com/ultralytics/yolov5/releases) and saving results to `runs/detect`. ```bash $ python detect.py --source 0 # webcam file.jpg # image file.mp4 # video path/ # directory path/*.jpg # glob 'https://youtu.be/NUsoVlDFqZg' # YouTube 'rtsp://example.com/media.mp4' # RTSP, RTMP, HTTP stream ``` </details> <details> <summary>Training</summary> Run commands below to reproduce results on [COCO](https://github.com/ultralytics/yolov5/blob/master/data/scripts/get_coco.sh) dataset (dataset auto-downloads on first use). Training times for YOLOv5s/m/l/x are 2/4/6/8 days on a single V100 (multi-GPU times faster). Use the largest `--batch-size` your GPU allows (batch sizes shown for 16 GB devices). ```bash $ python train.py --data coco.yaml --cfg yolov5s.yaml --weights '' --batch-size 64 yolov5m 40 yolov5l 24 yolov5x 16 ``` <img width="800" src="https://user-images.githubusercontent.com/26833433/90222759-949d8800-ddc1-11ea-9fa1-1c97eed2b963.png"> </details> 1 硬件配置说明 1.1 计算平台 | ***\*GPU\**** | 128-core Maxwell | | ---------------------- | ---------------------------------------------------------- | | ***\*CPU\**** | Quad-core ARM [email protected] | | ***\*Memory\**** | 4GB 64-bit LPDDR4 25.6GB/s | | ***\*Storage\**** | microSD(not included) | | ***\*Video Encode\**** | 4K@30\|4x 1080p @30\|9x 720p @30 (H.264/H.265) | | ***\*Video Decode\**** | 4K@60\|2x 4K @30\|8x 1080p @30\|18x 720p @30 (H.264/H.265) | | ***\*Camera\**** | 1x MIPI CSI-2 DPHY lanes | | ***\*Connectivity\**** | Gigabit Ethernet, M.2 Key E | | ***\*Display\**** | HDMI 2.0 and eDP 1.4 | | ***\*USB\**** | 4x USB 3.0, USB 2.0 Micro-B | | ***\*Others\**** | GPIO, I2C, I2S, SPI, UART | | ***\*Mechanical\**** | 69mm×45mm, 260-pin edge connector | 1.2 摄像头 摄像头使用大赛组委会规定 Intel SR300，具体参数如下： | ***\*基本要素\**** | | | ----------------------------------------------------- | ----------------------- | | ***\*产品集\**** | 英特尔® 实感™ 摄像头 | | ***\*状态\**** | Launched | | ***\*发行日期\**** | Q1'16 | | ***\*深度技术\**** | Coded Light | | ***\*操作规范\**** | | | ***\*操作范围（最小\**** ***\*-\**** ***\*最大）\**** | 0.3m - 2m | | ***\*深度分辨率和 FPS\**** | VGA 30fps | | ***\*视野深度\**** | H: 73, V: 59, D: 90