hanlanqian / Vehicle_Orientation_Detect

An algorithm of detecting vehicle orientation from single camera

Vehicle_Orientation_Detect

This is a two-stage vehicle orientation detection algorithm.

• the camera calibration stage based on vanishing point detecting
• the vehicle orientation detection stage based on keypoints detect and Perspective Transformation

Environment

• all used python packages are displayed in requirement.txt
• torch 1.10.2 + CUDA 10.2
• python 3.7
• TensorRT 8.2

Simple Usage

• beginning with app.py

  • all parameters
    • source (required) the video path
    • engine (required) the path of yolov5 TensorRT engine
    • classes (optional) the json file containing all detect targets
    • roi (optional) whether select the ROI of the scenarios，the default value is False
    • caliFlag (required) the True value represents calibration stage, the False value represents orientation detection stage
    • calibration (required when caliFlag is False) the utilized calibration file in second stage
    • threshold (optional) the threshold filtering vehicle edgelets, the default value is 0.5
    • visualize (optional) whether visualize the process of getting vehicle edgelets, the default value is False
    • savePath (required when caliFlag is True) the saving path of calibration file in calibration stage

• camera calibration stage

python app.py --source ${video path} --engine ${tensorRT engine} --caliFlag True --savePath ${calibration savePath}

• orientation detect stage

python app.py --source ${video path} --engine ${tensorRT engine} --caliFlag False --calibration ${calibration path}

Program Structure

• detection_model the main modules of vehicle orientation detection(calibration and detection)
  • calibration_yolo_model.py the entire model based on yolov5 detector in workflow
  • calibration_ssd_model.py the entire model based on SSD detector in workflow
  • diamondSpace.py the module implement a transformation from Cartesian coordinate system to Diamond Space
  • edgelets.py the module provides function for detecting vehicle edges
• SSD SSD detectors and inference api
• yolov5 yolov5 detectors optimized by TensorRT and inference api
  • weights yolov5 onnx model and TensorRT engine
• results experiment result data
• IPM bird-view transformation and the evaluation of calibration stage
• test some test samples and script for test experiment
• dataset Experimental dataset folder
• image images and tables generated during the experiment
• app.py the entrance of entire program

Dataset

• the roadside surveillance video captured by Guangzhou East Campus of Sun Yat-sen University
  • containing four kinds of data captured by different focal length and camera position camera
  • dataset structure
    • calibrate folder. A piece of surveillance video used to calibrate.
    • eval folder. A piece of surveillance video used to detect the orientation of vehicle.

Workflow

Camera Calibration

• Camera Calibration Based on Vanishing Point

  • build the camera model
  • calculate the intrinsic matrix and rotation matrix by two vanishing point coordinates.(detection_model/calibration_utils.py computeCameraCalibration())

• Vanishing Points Detect

  1. first VP
     • Get the ROI of image by yolov5 object detector, Then detect the harris point of the region as feature points.
     • track the vehicles by using KLT tracker(optical flow method) to track feature points.
     • map all tracks gathered in last step to DiamondSpace to get the intersections(which is considered as ** First VP**)
     • Get the first vanishing point by voting algorithm
  2. second VP
     • detect the high quality vehicle edgelets.
     • utilize the same method applied before to get the second VP.

Orientation Detection

• KeyPoint Detect

  • Based on an 2D human position estimation network project openpifpaf
  • we get a pair of keypoints which can represent the orientation of vehicle(such as car lights)

• Get Bird-View image plane

  • utilize the calibration result to map all pixel to bird-view image.
  • calculate the slope of key point connection as the orientation of vehicle.

Experiment Result

According to the evaluation metrics mentioned in the thesis. We get the experiment result as following.