Development of underwater rover simulator that can be used to detect oysters for this project. IMU and SONAR sensors are simulated mounted onto the rover. The simulator can be initialized with random landscapes, water turbidity, and with any underwater object randomly scattered in clusters. A custom rover path can be provided by user, which the rover will use to collect data and count oysters from and build the oyster map.
segmentation.mp4
vslam.mp4
- 2D bounding Box of objects from Blender
2.93
- Integrate IMU with blender
- Integrate LiDAR/SONAR with blender
- Train yolo on the generated data from blender
- Rover position data with detections on PCL
- colab notebook used to train the yolov4-tiny, find it here
- Modified the colab notebook provided here