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Midwest Defenders

Using Spatial AI for navigation

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Spatial AI Contest (https://opencv.org/opencv-spatial-ai-contest/)

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Use LEGO to create a replica of real-world AI manufacturing solutions

Prizes worth $45,000 USD

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  • 1 free OAK-D-LITE device per team member, up to 3 per team
  • An e-gift card for LEGOs to help build your idea
  • A coupon for 500 hours of Microsoft Azure training on Intel's D32ds v4 hardware
  • Access to Intel’s Dev Cloud
  • Support on our Discord server for successful completion of the project

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SERVO

ENCODER

MAGNET

3D PRINTED BRACKET

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USB BATTERY

OAK-D-LITE

IMU

TEENSY

PI 4B

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Anaconda

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https://docs.conda.io/en/latest/

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Jupyter Notebook

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https://colab.research.google.com/github/luxonis/depthai-ml-training/blob/master/colab-notebooks/YoloV3_V4_tiny_training.ipynb#scrollTo=pHyOgLmQvKxB

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Darknet (Yolo V2/V3/V4)

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https://github.com/AlexeyAB/darknet

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Google Colab (Free option!)

https://colab.research.google.com/signup

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Convert to pb

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Convert to OpenVino IR

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Convert to Blob file

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2000 batches for

Each Label = 18000

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Curses Text Based UI

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Time for a Live Demo?!?

It’s demo time. Can the rover successfully navigate a course? Will it crash and embarrass Jesse? Time to place your bets!!

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Link to final video and document

Final Write Up

Video

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Closed Door

16 cm wide box 4.3m away

Closed Door

Closed Door

18 inch Traffic Cone 5.5 meters away

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Traffic Cone 1.5m away

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Needed for F1Tenth

  • SLAM (offline, online?)
  • Monte Carlo localization (particle filter localization)
  • Pure Pursuit Path following
  • Simulator (need slip/traction/cornering code) and emulation of lidar
  • Use of Oak-D-Lite??
  • Full parameter support
  • Obstacle avoidance
  • Build 2nd rover
  • Optimized racing path and passing

May 23-26th at IEEE International Conference on Robotics and Automation (ICRA) 2022 Philadelphia, USA. Polished concrete floor! 28 teams

https://icra2022-race.f1tenth.org/

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Thank You

Questions, Comments?

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Sparkfun Discount Code: JESSEB2022

10% Sparkfun Original Items (Expires at end of the year)