Prototype Design of Smart Helmets

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姓名

張仲良(Chang-Liang Chung) 查詢紙本館藏

畢業系所

資訊工程學系在職專班

論文名稱

(Prototype Design of Smart Helmets)

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摘要(中)

高級駕駛員輔助系統 (ADAS)主要用於四輪汽車。ADAS的一個重要組成部分是交通標誌識別，它可以識別重要的道路標誌，以提醒駕駛員應注意的道路法規或注意事項。不幸的是，現在仍然缺乏成熟的ADAS在摩托車上。在這項研究中，我們打算為摩托車構建一個輕量級的 ADAS，它可以識別道路標誌的重要部分，即限速牌和限速地面標誌。 YOLOv4 模型的兩個輕量級版本 YOLOv4-tiny 和 YOLOv4-tiny-3l通過遷移學習進行調整以識別限速標誌。為確保模型適用於嵌入式設備（即用於摩托車頭盔），應用模型剪枝技術提高模型效率。最後，將模型部署在 NVIDIA Jetson Nano 上並通過 TensorRT 加速以評估其性能。實驗結果表明，其中一個模型達到了27.72 FPS和96.19% 的mAP@0.50。

摘要(英)

Advanced Driver Assistance Systems (ADAS) have been used in automobiles primarily in 4-wheeled vehicles. An essential part of ADAS is traffic sign recognition, which recognizes important road signs for the driver to warn the road regulations or matters that he should be aware of. Unfortunately, a mature ADAS for 2-wheeled motorcyclists is still lacking. In this research, we intend to build a lightweight ADAS for motorcyclists that recognizes the important portion of the road signs, i.e., the speed limit posts and speed limit ground signs. Two lightweight versions of the YOLOv4 models, YOLOv4-tiny and YOLOv4-tiny-3l, are tuned by transfer learning to recognize speed limit signs. To ensure the model is suited for embedded device (i.e., to be used on motorcyclist′s helmet), the model pruning technique is applied to improve model efficiency. Finally, the models are deployed on NVIDIA Jetson Nano and accelerated by TensorRT to assess their performance. The experiment results indicate that one of the models achieves mAP@0.50 at 96.19% with 27.72 FPS.

關鍵字(中)

★ 物件偵測
★ 物件辨識
★ 交通號誌辨識系統
★ 深度學習

關鍵字(英)

★ YOLO
★ Object detection
★ Traffic Sign Recognition
★ Deep learning

論文目次

1 Introduction 1
2 RelatedWork 4
2.1 Traditional Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Object detection with Convolutional Neural Networks . . . . . . . . . . . . 4
2.3 Traffic Sign Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Preliminary 7
3.1 Artificial Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.1.1 Convolutional Neural Networks . . . . . . . . . . . . . . . . . . . . 8
3.2 Techniques To Reduce Overfitting . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.1 Data Augmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2.2 Early Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.3 Dropout and DropBlock . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Techniques to Reduce Model Size . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.1 L1 And L2 Regularization . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.2 Model Pruning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3.3 YOLOv4-tiny . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4 Transfer Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5 Model Evaluation Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5.1 Confusion Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.6 Darknet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7 NVIDIA Jetson Nano . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.7.1 JetPack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.7.2 Raspberry Pi NoIR Bulk Camera Board V2 . . . . . . . . . . . . . 28
4 Design 29
4.1 Data Collection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.1.1 Videos from Motorcycle Dash Camera . . . . . . . . . . . . . . . . 31
4.1.2 Open Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2 Data Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.1 Data Augmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.2 Data Annotations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.3 Model Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.3.1 Transfer Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3.2 Model Pruning and Model Deployment . . . . . . . . . . . . . . . . 37
5 Experiment 39
5.1 Experiment Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.2 Evaluation Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.1 Mean Average Precision . . . . . . . . . . . . . . . . . . . . . . . . 43
5.2.2 Frames Per Second . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.3 Base Training Results From Darknet . . . . . . . . . . . . . . . . . . . . . 49
5.4 Pruning Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.5 Final Model Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.6 Model Deployment on NVIDIA Jetson Nano . . . . . . . . . . . . . . . . . 55
5.7 Best Model Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6 Conclusions 57
Reference 58

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指導教授

孫敏德(Min-Te Sun)

審核日期

2022-7-28

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