Incorporating handrail segmentation into ISAAC #101
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…-downgrade Morgan develop torchscript downgrade
… can be compiled with catkin for native (not arm)
…onfig stuff in Astrobee
…rks when arm binaries are avaiable, for what it's worth.
Morgan develop keypoint annot
…oss-compilation; other documentation reformatting
…object_localization; completed Torch 1.13.1 cross-compile instructions
Morgan develop frcnn
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What is this PR
This PR contains no changes outside of the addition of
astrobee/localization/cnn_object_localizationandastrobee/localization/lightweight_cnn_object_detection. It serves to incorporate the work done by Aryan Naveen on MRCNN-based detection and localization of handrails on the ISS., as well as some cleanup, integration, and experimental work that builds on it.Things this PR depends on
The code in this PR expects the following changes within the Astrobee repo for
cnn_object_localizationto run in simulation. For a minimal "quick-fix" example of these changes, see this comparison.Additionally, the following data is not included in this PR, but is associated with handrail segmentation. These materials are currently located on
bartlett:/usr/local/home/mnsun/CNN_LOCALIZATION_RESOURCES.