Wali-turtlebot

Wali turtlebot is a self-driving turtlebot, using Scene Segmentation on RGBD data to make Path Planning.

1. Hardware

• Turtlebot2
• Jetson TX2
• HIKVISION wireless camera (stereo)
• Microsoft Kinect v1 (not intense, not outdoor)
• Intel RealSense R200
• HiSilicon970 (arm)

2. Wali ROS System Architecture

• ROS Nodes communication (Service, Topic)
• Turtlebot motion control using rospy (forward, left, right, back, and smoothly speed up)

3. BiSeNet-RGBD Architecture

BiSeNet-RGBD is trained on Princeton SUN-RGBD dataset. Now it can predict 37 class, we'll annotate some specific classes in our practical scenario using labelme in the future.

BiSeNet-Wali

Compress BiSeNet with Structure Knowledge Distillation for Real-time image segmentation on wali-TX2.

• Code: https://github.com/Shuai-Xie/BiSeNet-wali

Test scenes

• indoor

• outdoor

• stereo: https://www.bilibili.com/video/av44357263/

Road Test

未设置匀变速运动，速度突变卡顿

• indoor: https://www.bilibili.com/video/av44314807/

添加匀变速运动之后，卡顿问题解决

• in1：https://www.bilibili.com/video/av44315156/
• in2：https://www.bilibili.com/video/av44315266/
• out1：https://www.bilibili.com/video/av44315515/
• out2：https://www.bilibili.com/video/av44315582/