Patrasche
Overview
Human Specific tracking automobile (Patrasche) system on a drivable road
Main functions
Object Detection
Based on OWOD. Detect all person class object and classify other object as obstacles
Human Tracking
Based on Deep Sort. Track specific Human figure (Master), yet the possiblity of tracking id loss is modified with nearest-distance tracking object algorithm
In short, nearest-distance tracking object algorithm detect find new tracking object by searching a new human figure with the nearest distance from the location of the most recently tracked human figure.
Drivable Area Segmentation
Based on YOLOP. Fine-tuned with various types of roads in Korea. Find and do segmentation on drivable area in a given frame
Depth Evaluation
With Depth-Image, find object’s average depth. Area for depth evaluation refers to the center cropped part of the results from OWOD.
Method
Using Object Detection and Human Tracking, find the location of master. Then, calibrate angle for Patrasche
Collaborating above with the Drivable Area Segmentation, set examine area to decide whether Patrasche can drive towards Master or not
Using Depth Evaluation on objects detect potential threat for Patrasche, and using Master’s depth, determine an appropriate speed level for Patrasche
