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This repo holds the python code for retraining the OIST smartphone robot object detector model. This model is used to detect other robots and charging pucks.

Running model inference

The model is used by an example Android app that can be found here

This is a fork of the tf-model-maker repo that had a premade object detector app for Android using the tf-model-maker workflow. The app was modified to use the retrained model from this project along with the abcvlib API to allow movement of the smartphone robots to the charging pucks.

This project originally made use of tf-model-maker but currently there are a LOT of existing issues. A clean install with latest dependencies does NOT work. So, this project will maintain a simple Dockerfile to hold the required working dependencies to allow retraining until the tf-model-maker project starts working again, or this project moves to the potential offshoot project called Media Pipe

Dependencies

  1. docker
  2. Nvida container toolkit

Retrain model

docker compose up --build Note the default command is to run the retraining script (train.py). This takes all label data from ./labels, which is generated via labelImg (see below) and retrains a efficientdet_lite0 model. The labels are currently xml files with the same name as the corresponding image help in ./images. These xml files contain relative paths to all image files, bounding box, and label data. The exported model is saved as model.tflite in the root of the project.

Data Labeling

The data labeling was done using labelImg but this project is no longer maintained and the follow up orject Label Studio did not provide a simple way to reuse the dataset created within labelImg. The existing install instructions for labelImg did not work on Ubuntu >22.04, so a docker container was created to run the labeling tool. The Dockerfile is hosted on a fork of the original project here

The labeling will likely need to be updated to use a more modern tool, but for now the labelImg tool is sufficient for the small dataset used in this project.

Data Gathering

The images used in this dataset were captured on a pixel 3a smartphone at higher resolution, but in order to speed up training were downsampled to 480 × 640 pixels. To batch downsample the images you can use the python script ./downsize.py. You will need to install Pillow via pip, via pip install Pillow, but otherwise there shouldn't be any other dependencies. e.g. python downsize.py ./images ./downsized where ./images hold raw images, and ./downsized will hold the downsampled images.