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Autoware SSD detector cannot show detected objects

asked 2019-10-11 03:35:11 -0500

huifeng gravatar image

Ubuntu 16.04, CUDA9 and caffe installed properly:

vision_ssd_detect node runs (using provided launch) without any warnings nvidia-smi says that it uses approximately 54MB of 540M's video memory regardless of image_raw resolution (compared 1920x1200 with 320x200). COCO model was used.

But nevertheless, vision_ssd_detect does not return any detected objects:

rostopic echo /detection/image_detector/objects command returns messages with empty list of objects, here's full message example: header: seq: 426 stamp: secs: 1562840561 nsecs: 831216836 frame_id: "cam_fc_near" objects: []

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answered 2019-10-25 01:30:15 -0500

amc-nu gravatar image

At the time of development, there was no COCO model available. Please use VOC0712 or VOC0712Plus.

For your reference:

  • I tested with: VGG_VOC0712_SSD_300x300_iter_120000.caffemodel.

  • My GPU memory consumption: ...lib/vision_ssd_detect/vision_ssd_detect 1318MiB

Here is a link to the model I used to test (~90MB)

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Asked: 2019-10-11 03:35:11 -0500

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Last updated: Oct 25 '19