Mission:

Requirements:
- Identify color of blinking buoy
- Identify the color of each panel
- Determine which panel matches the color of the blinking buoy
- Determine Location of the panel
- Determine location of the .25m hole based on location of panel
- Integrate with LiDAR to find XYZ location + shooter

Deliverables
- Utilization of Oak-D cameras and LiDAR
- RGB color differentiation (can identify red, green, and blue)
- X/Y location of panels
- Determine depth using LiDAR

Proposed solution:
 YOLO
1. Train models to determine red, green, or blue panels
2. Determine color of blinking buoy (will likely use OpenCV for this portion)
3. Deploy model for corresponding panel and determine location by drawing a
bounding box
4. Determine location of smaller hole depending on the location of the panel
5. Integrate with LiDAR to determine Z location

OpenCV
1. Determine color of blinking buoy and corresponding panel
a. Will (likely) require gaussian blur, erosions/dilations, thresholding, HSV isolation,
etc…
2. Identify corresponding panel
a. Will (likely) require gaussian blur, erosions/dilations, thresholding, HSV isolation,
etc…
3. Draw a bounding box around panel
4. Determine location of smaller hole depending on location of bounding box
5. Integrate with LiDAR to determine Z location

Comparison:

YOLO OpenCV R-CNN

Speed Fastest Fast Slow

Processing Less than CNNs, more Least Great

power than OpenCV

Accuracy Highest High, decreases underwater Low (great amount of effort

and while in motion to reach high accuracy)

Other -Good for analyzation -Easiest, already within

while in motion - can run skillset
detection in real time -Will probably be the easiest
-Easier to differentiate to develop
panels -Will be difficult to
differentiate panels because
other objects will be the
same color
-Slow on Jetson AGX
(without CUDA)
Based on requirements + proposed methods and limitations, YOLO seems to be the most
viable and effective method of doing the Find and Fling mission.

Links:
- http://www.riejournal.com/article_106905_afd0caf26202eb3ac3b605fd17894255.pdf