YOEO — You Only Encode Once

A CNN for Embedded Object Detection and Semantic Segmentation

This project is based upon PyTorch-YOLOv3 and will continuously be modified to our needs.

Installation

Installing from source

For normal training and evaluation we recommend installing the package from source using a poetry virtual environment.

git clone https://github.com/bit-bots/YOEO
cd YOEO/
pip3 install poetry --user
poetry install

You need to join the virtual environment by running poetry shell in this directory before running any of the following commands without the poetry run prefix. Also have a look at the other installing method, if you want to use the commands everywhere without opening a poetry-shell.

Download pretrained weights

./weights/download_weights.sh

Test

Evaluates the model on the test dataset. See help page for more details.

poetry run yoeo-test -h

Inference

Uses pretrained weights to make predictions on images.

poetry run yoeo-detect --images data/samples/

Train

For argument descriptions have a look at poetry run yoeo-train --h

Tensorboard

Track training progress in Tensorboard:

• Initialize training
• Run the command below
• Go to http://localhost:6006/

poetry run tensorboard --logdir='logs' --port=6006

Storing the logs on a slow drive possibly leads to a significant training speed decrease.

You can adjust the log directory using --logdir <path> when running tensorboard and yoeo-train.

Train on Custom Dataset

Classes

Add class names to data/custom/classes.names. This file should have one row per class name.

Image Folder

Move the images of your dataset to data/custom/images/.

YOLO Annotation Folder

Move your yolo annotations to data/custom/labels/. The dataloader expects that the annotation file corresponding to the image data/custom/images/train.jpg has the path data/custom/labels/train.txt. Each row in the annotation file should define one bounding box, using the syntax label_idx x_center y_center width height. The coordinates should be scaled [0, 1], and the label_idx should be zero-indexed and correspond to the row number of the class name in data/custom/classes.names.

Segmentation Annotation Folder

Move your segmentation annotations to data/custom/segmentations/. The dataloader expects that the annotation file corresponding to the image data/custom/images/train.jpg has the path data/custom/segmentations/train.png. The classes for each pixel are encoded via the class id.

Define Train and Validation Sets

In data/custom/train.txt and data/custom/valid.txt, add paths to images that will be used as train and validation data respectively.

Train

To train on the custom dataset run:

poetry run yoeo-train --model config/yoeo-custom.cfg --data config/custom.data

API

You are able to import the modules of this repo in your own project if you install this repo as a python package.

An example prediction call from a simple OpenCV python script would look like this:

import cv2
from yoeo import detect, models

# Load the YOEO model
model = models.load_model(
  "<PATH_TO_YOUR_CONFIG_FOLDER>/yoeo.cfg",
  "<PATH_TO_YOUR_WEIGHTS_FOLDER>/yoeo.pth")

# Load the image as a numpy array
img = cv2.imread("<PATH_TO_YOUR_IMAGE>")

# Convert OpenCV bgr to rgb
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)

# Runs the YOEO model on the image
boxes, segmentation = detect.detect_image(model, img)

print(boxes)
# Output will be a numpy array in the following format:
# [[x1, y1, x2, y2, confidence, class]]

print(segmentation)
# Output will be a 2d numpy array with the coresponding class id in each cell

For more advanced usage look at the method's doc strings.

Convert your YOEO model

Convert your YOEO model to an ONNX model

To convert your YOEO model to an ONNX model, you can use the following command:

poetry run yoeo-to-onnx config/yoeo.cfg  # Replace path with your .cfg file

For more information on ONNX, read the ONNX runtime website.

Convert ONNX model to OpenVino IR model

After successful conversion of your YOEO model to an ONNX model using this guide, you can move on with the next conversion to an OpenVino IR model (intermediate representation) model using the following command:

poetry run yoeo-onnx-to-openvino config/yoeo.onnx  # Replace path with your .onnx file

For more information on OpenVino, read the OpenVino documentation.

Publication

YOEO — You Only Encode Once: A CNN for Embedded Object Detection and Semantic Segmentation

Abstract
Fast and accurate visual perception utilizing a robot’s limited hardware resources is necessary for many mobile robot applications. We are presenting YOEO, a novel hybrid CNN which unifies previous object detection and semantic segmentation approaches using one shared encoder backbone to increase performance and accuracy. We show that it outperforms previous approaches on the TORSO-21 and Cityscapes datasets.

[ResearchGate] [Download]

@inproceedings{vahlyoeo,
  title={YOEO — You Only Encode Once: A CNN for Embedded Object Detection and Semantic Segmentation},
  author={Vahl, Florian and Gutsche, Jan and Bestmann, Marc and Zhang, Jianwei},
  year={2021},
  organization={IEEE},
  booktitle={2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)}
}