以下為udacity的SDCND的一個項目

ps：這裡使用的是用opencv進行特徵提取+svm分類器的方法實現物體檢測，是在深度學習流行前比較經典的實現方法

項目描述：

使用openCV提取圖片特徵，訓練svm分類器，分類車輛與非車輛。用訓練好的模型識別汽車前置攝像頭記錄視頻中的車輛。

代碼github地址：yang1688899/CarND-Vehicle-Detection

車輛非車輛數據：pan.baidu.com/s/13nCrYR

處理後視頻：

https://www.zhihu.com/video/969237294930235392

實現步驟：

  • 分析訓練數據，提取圖片HOG特徵。
  • 訓練分類器
  • 應用滑動窗口(sliding windows)實現車輛檢測
  • 應用熱力圖(heatMap)過濾錯誤檢測(false positive)

分析訓練數據，提取圖片HOG特徵

訓練數據為64x64x3的RBG圖片，包含車輛與非車輛圖片兩類，車輛圖片8792張，非車輛圖片8968張。 以下為車輛，非車輛圖片樣例：

提取HOG特徵，以下為實現方法：

# Define a function to return HOG features and visualizationdef get_hog_features(img, orient, pix_per_cell, cell_per_block, vis=False, feature_vec=True): if vis == True: features, hog_image = hog(img, orientations=orient, pixels_per_cell=(pix_per_cell, pix_per_cell), cells_per_block=(cell_per_block, cell_per_block), transform_sqrt=False, visualise=True, feature_vector=False) return features, hog_image else: features = hog(img, orientations=orient, pixels_per_cell=(pix_per_cell, pix_per_cell), cells_per_block=(cell_per_block, cell_per_block), transform_sqrt=False, visualise=False, feature_vector=feature_vec) return features

以下為原圖與提取的HOG特徵圖對比：

訓練分類器

這裡使用SVM分類器，以下為代碼：

t = time.time()car_features = utils.extract_features(cars, cspace=colorspace, orient=orient, pix_per_cell=pix_per_cell, cell_per_block=cell_per_block, hog_channel=hog_channel)notcar_features = utils.extract_features(notcars, cspace=colorspace, orient=orient, pix_per_cell=pix_per_cell, cell_per_block=cell_per_block, hog_channel=hog_channel)t2 = time.time()print(round(t2-t, 2), Seconds to extract features...)# Create an array stack of feature vectorsX = np.vstack((car_features, notcar_features))X = X.astype(np.float64) # Fit a per-column scaler# X_scaler = StandardScaler().fit(X)# Apply the scaler to X# scaled_X = X_scaler.transform(X)# Define the labels vectory = np.hstack((np.ones(len(car_features)), np.zeros(len(notcar_features))))# Split up data into randomized training and test setsrand_state = np.random.randint(0, 100)X_train, X_test, y_train, y_test = train_test_split( X, y, test_size=0.2, random_state=rand_state)print(Feature vector length:, len(X_train[0]))# Use a linear SVC svc = LinearSVC()# Check the training time for the SVCt = time.time()svc.fit(X_train, y_train)t2 = time.time()t2 = time.time()print(round(t2-t, 2), Seconds to train classfier...)# Check the score of the SVCprint(Test Accuracy of classfier = , round(svc.score(X_test, y_test), 4))# Check the prediction time for a single samplet=time.time()n_predict = 10print(My classfier predicts: , svc.predict(X_test[0:n_predict]))print(For these,n_predict, labels: , y_test[0:n_predict])t2 = time.time()print(round(t2-t, 5), Seconds to predict, n_predict,labels with classfier)

最終訓練的分類器在測試數據集得到98.0%準確率

應用滑動窗口(sliding windows)實現車輛檢測

由於提取HOG特徵比較耗時，先直接提取整張圖片的HOG特徵，然後獲取每個窗口所屬的那部分HOG特徵，這樣效率會更高，以下為滑動窗口搜索的代碼實現：

# Define a single function that can extract features using hog sub-sampling and make predictionsdef find_cars(img, ystart, ystop, scale, cspace, hog_channel, svc, X_scaler, orient, pix_per_cell, cell_per_block, spatial_size, hist_bins, show_all_rectangles=False): # array of rectangles where cars were detected windows = [] img = img.astype(np.float32) / 255 img_tosearch = img[ystart:ystop, :, :] # apply color conversion if other than RGB if cspace != RGB: if cspace == HSV: ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2HSV) elif cspace == LUV: ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2LUV) elif cspace == HLS: ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2HLS) elif cspace == YUV: ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2YUV) elif cspace == YCrCb: ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2YCrCb) else: ctrans_tosearch = np.copy(img) # rescale image if other than 1.0 scale if scale != 1: imshape = ctrans_tosearch.shape ctrans_tosearch = cv2.resize(ctrans_tosearch, (np.int(imshape[1] / scale), np.int(imshape[0] / scale))) # select colorspace channel for HOG if hog_channel == ALL: ch1 = ctrans_tosearch[:, :, 0] ch2 = ctrans_tosearch[:, :, 1] ch3 = ctrans_tosearch[:, :, 2] else: ch1 = ctrans_tosearch[:, :, hog_channel] # Define blocks and steps as above nxblocks = (ch1.shape[1] // pix_per_cell) + 1 # -1 nyblocks = (ch1.shape[0] // pix_per_cell) + 1 # -1 nfeat_per_block = orient * cell_per_block ** 2 # 64 was the orginal sampling rate, with 8 cells and 8 pix per cell window = 64 nblocks_per_window = (window // pix_per_cell) - 1 cells_per_step = 2 # Instead of overlap, define how many cells to step nxsteps = (nxblocks - nblocks_per_window) // cells_per_step nysteps = (nyblocks - nblocks_per_window) // cells_per_step # Compute individual channel HOG features for the entire image hog1 = utils.get_hog_features(ch1, orient, pix_per_cell, cell_per_block, feature_vec=False) if hog_channel == ALL: hog2 = utils.get_hog_features(ch2, orient, pix_per_cell, cell_per_block, feature_vec=False) hog3 = utils.get_hog_features(ch3, orient, pix_per_cell, cell_per_block, feature_vec=False) for xb in range(nxsteps): for yb in range(nysteps): ypos = yb * cells_per_step xpos = xb * cells_per_step # Extract HOG for this patch hog_feat1 = hog1[ypos:ypos + nblocks_per_window, xpos:xpos + nblocks_per_window].ravel() if hog_channel == ALL: hog_feat2 = hog2[ypos:ypos + nblocks_per_window, xpos:xpos + nblocks_per_window].ravel() hog_feat3 = hog3[ypos:ypos + nblocks_per_window, xpos:xpos + nblocks_per_window].ravel() hog_features = np.hstack((hog_feat1, hog_feat2, hog_feat3)) else: hog_features = hog_feat1 xleft = xpos * pix_per_cell ytop = ypos * pix_per_cell test_prediction = svc.predict(hog_features) if test_prediction == 1 or show_all_rectangles: xbox_left = np.int(xleft * scale) ytop_draw = np.int(ytop * scale) win_draw = np.int(window * scale) windows.append( ((xbox_left, ytop_draw + ystart), (xbox_left + win_draw, ytop_draw + win_draw + ystart))) return windows

車輛由於距離遠近不同會在視頻呈現的不一樣的大小且出現的位置也會各異，這裡使用4類不同大小的滑動窗口對圖片中的車輛進行搜索：

第一類大小為64x64,重疊率(overlap)為0.75，用來檢測距離較遠的車輛：

第二類大小為96x96，重疊率(overlap)為0.75，用來檢測中距離車輛：

第三類大小為128x128,重疊率(overlap)為0.75，用來檢測近距離車輛:

第四類大小為224x224,重疊率(overlap)為0.75，用來檢測極近距離車輛:

應用在測試圖片得到的下列結果：

可以看到存在一些多窗口重合及錯誤檢測(false positive)現象

應用熱圖(heatMap)過濾錯誤檢測(false positive)

由於使用多個大小不一滑動窗口，且窗口存在重疊，單個車輛圖像會被多個窗口捕捉檢測。使用這個現象可以過濾錯誤檢測。

記錄一張圖片上所有positive detections，使用記錄的positive detections形成一個檢測熱圖：

def add_heat(heatmap, bbox_list): # Iterate through list of bboxes for box in bbox_list: # Add += 1 for all pixels inside each bbox # Assuming each "box" takes the form ((x1, y1), (x2, y2)) heatmap[box[0][1]:box[1][1], box[0][0]:box[1][0]] += 1

以下應用在測試圖片得到的檢測熱圖：

然後對熱圖進行閾值過濾,過濾錯誤檢測,以下為閾值過濾實現代碼:

def apply_threshold(heatmap, threshold): # Zero out pixels below the threshold heatmap[heatmap <= threshold] = 0 # Return thresholded map return heatmap

以下為整個pipeline應用在測試圖片的效果：


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