Raspberry Pi 3 Model B with Coral Edge TPU acceleration running SSD object detection

It wasn’t too hard to go from the inline rt-ai Edge Stream Processing Element using the Coral Edge TPU accelerator to an embedded version running on a Raspberry Pi 3 Model B with Pi camera.  The rt-ai Edge test design for this SPE is pretty simple again:

As can be seen, the Pi + Coral runs at about 4 fps with 1280 x 720 frames which is not too bad at all. In this example, I am running the PiCoral camera SPE on the Raspberry Pi node (Pi7) and the View SPE on the Default node (an i7 Ubuntu machine). Also, I’m using the combined video and metadata output which contains both the detection data and the associated JPEG video frame. However, the PiCoral SPE also has a metadata-only output. This contains all the frame information and detection data (scores, boxes etc) but not the JPEG frame itself. This can be useful for a couple of reasons. First, especially if the Raspberry Pi is connected via WiFi, transmitting the JPEGs can be a bit onerous and, if they are not needed, very wasteful. Secondly, it satisfies a potential privacy issue in that the raw video data never leaves the Raspberry Pi. Provided the metadata contains enough information for useful downstream processing, this can be a very efficient way to configure a system.

An Edge TPU stream processing element for rt-ai using the Coral USB Accelerator

A Coral USB Accelerator turned up yesterday so of course it had to be integrated with rt-ai to see what it could do. Creating a Python-based SPE from the object detection demo in the API download didn’t take too long. I used the MobileNet SSD v2 COCO model as a starting point to generate this example output:

The very basic rt-ai test design looks like this:

Using 1280 x 720 video frames from the webcam, I was getting around 2 frames per second from the CoralSSD SPE. This isn’t as good as the Intel NCS 2 SPE but that is a compiled C++ SPE whereas the Coral SPE is a Python 3 SPE. I haven’t found a C++ API spec for the Edge TPU as yet. Perhaps by investigating the SWIG-generated Python interface I could link the compiled libraries directly but that’s for another day…

SSD object detection using the Neural Compute Stick 2 now has its own rt-ai stream processing element

Turned out to be pretty easy to integrate the ssd_mobilenet_v2_coco model compiled for the Intel NCS 2 into rt-ai. Since it doesn’t use the GPU, I was able to run this and the YOLOv3 SPE on the same machine which is kind of amusing – one YOLOv3 instance tends to chew up most of the GPU memory, unfortunately, so the GPU can’t be shared. I would have liked to have run YOLOv3 on the NCS 2 for direct comparison but could not. The screen capture above shows the MediaView SPE output for both detectors running on the same 1280 x 720 video stream.

This is the design and it is showing the throughput of each detection SPE – 14 fps for the GTX 1080 ti YOLO and 9 fps for the NCS 2 based SSD. Not exactly a fair comparison, however, but still interesting. It would be much better if I had the same model running using a GPU of course. Right now, the GPU-based SPE that can run ssd_mobilenet_v2_coco (and similar models) is Python based and that (not surprisingly) runs a fair bit slower than the compiled C++ versions I am using here.

Intel Neural Compute Stick 2

An Intel Neural Compute Stick 2 (NCS 2) just turned up. It will be interesting to see how it compares to the earlier version. The software supporting it is now OpenVINO which is pretty interesting as it makes it relatively easy to move models across multiple hardware platforms.

The NCS 2 is really the best edge inference hardware engine that is generally available as far as I am aware. Hopefully, one day, the Edge TPU will be generally available and there seem to be many more in the pipeline. Typically these edge inference devices do not support RNNs or related architectures but, in the short term, that isn’t a problem as CNNs and DNNs are probably most useful at the edge at the moment, being very effective at compressing audio and video streams down to low rate information streams for example.

A nice feature of the NCS 2 is that it is easy to connect multiple examples to a single powerful CPU. The combination of a reasonably powerful CPU along with dedicated inference hardware is pretty interesting and is an ideal architecture for an rt-ai node as it happens.

Stereolabs ZED depth camera with YOLO

The Stereolabs ZED camera is a quite effective way of generating depth-enhanced video streams and it seemed like it was time to get one and integrate it with rt-ai. I have worked with one of these before in a different context and I knew that using the ZED was pretty straightforward.

The screen capture above shows the ZED YOLO C++ example code running. The mug in the shot was a bit too close to the monitor to get picked up and my hand was probably too close in general hence the strange 4.92m depth reading. However, it does seem to work pretty well. It even picked up the image of the monitor on the screen as a monitor.

Just as a note, I did have to modify the main.cpp code to run. At line 49, I had to add a std:: in front of an isfinite() call for some reason. Maybe something odd on my Ubuntu system. Also, to get the standard samples to build, I had to add libxmu-dev as another dependency.

Now comes the task of adding this to rt-ai. I am going to split this into two: the first is to produce a new camera SPE that works with the ZED and outputs the depth image in addition to the normal camera image. Then, the CYOLO SPE will be modified to accept optional depth information and perform the processing to generate the actual object depth value. This seems like a more general solution as the ZED SPE then looks like a standard depth camera while the upgraded CYOLO will be able to work with any depth camera.

Completed ZeroSensors all ready for long term data collection

Finally this is a ZeroSensor all ready to go into full time service, capturing video, audio and environmental data. The goal is to use this data, and that from other cameras around the space, as training data for machine learning systems.

One specific goal is to create an anomaly detector with minimal supervision. As much as possible, it will learn from experience. This is kind of tricky as it requires detection of unknown length sequences depending on the circumstances. I am intrigued by the ideas behind the Universal Translator but not sure how much could carry over to this application. This paper reviews some of the techniques usually applied, at least for video processing. The situation here is a little different as there are quite different types of features involved. My plan is to preprocess video and audio to recognize salient features (using object detection or whatever) and then input these features, along with environmental sensor data, in the form of uniform time-slotted data sets to the anomaly detector. This doesn’t help with detecting the length of an interesting sequence – that’s the fun part of the project.

Integrating TensorFlow object detection into rt-ai

I have been using DeepLabv3 for a while now for object detection but I thought it would be interesting to try some examples from the TensorFlow object detection repo. I now have an rt-ai Edge stream processing element that is based on the Jupyter notebook example in the repo. Presumably this will work with any of the models in the model zoo although I am just using the default one for now.

As you can see from the preview capture above (apart from the nasty looking grass on the left) it picks out the car happily, although not with a great confidence level. Maybe it doesn’t like the elevated camera position or the car is a bit too far away or a difficult pose – I will need to do some more experiments. With the preview display on (using PyGame) I am only getting 1 fps with 1280 x 720 frames from the camera which is a little disappointing. However, with preview turned off (the normal production mode anyway), I am getting over 15fps which is entirely adequate.

The capture above shows the raw image along with the object recognition data in the form of metadata rather than drawn on the image. This is actually pretty useful for both real-time and offline processing (such as a machine learning run). Capturing the original image does have the advantage that alternate object detectors could be run at any time, at the expense of having to store more data. Real-time actions can be based on the metadata and the raw image just discarded.

Anyway, definitely a work in progress. It will be interesting to see how it compares with the DeepLabv3 version as the implementation gets more efficient. What’s nice is that it is trivial to swap out one object detector for another or run them in parallel in order to run tests. Just takes a few seconds with the rtaiDesigner GUI.