Zhuo Qing 2021-08-09 23:22:15 阅读数:928
Jane Medium ： This article is for participation 2021 The 16th smart car competition national finals online competition indoor competition AI Visual group competition rules .
key word： The smart car race , Online competition , Interior vision AI
because AI Special recognition task of visual group , For example, in the competition in the sub race area, we see the need to deploy identification targets at special positions on the track , Therefore, the track demand will be different from other indoor competition problem groups , The target needs to be replaced during the competition , This complicates the game process , Need more people . In order to facilitate the students to share the track with other problem groups , Simplify the game process , In the indoor of the 16th smart car competition AI In the vision group competition , We investigate the operation function and task recognition function of the vehicle model respectively , Integrate separately .
This also prevents teams from scoring only on the track , Or just a recognition score , This is contrary to the purpose of the group . therefore AI The competition of the visual group requires the participating teams to compete within a given time （ Like two minutes ）, Perform tracking task and identification task respectively .
1、 Tracking task ： The model runs on the track , Calculate the integral value , The rules and track requirements are consistent with the basic four-wheel set , Only the time limit for each run is changed to two minutes ;
2、 Identify the tasks ： The car model is in a fixed position , Within two minutes, the image content at the fixed position shall be circularly recognized and corresponding actions shall be taken to obtain the integral value , For action requirements, please refer to the description in the remarks column in the picture recognition scoring standard ;
By means of task separation , The purpose of sharing the track with other indoor groups can be realized , At the same time, all identification tasks are also investigated separately , Avoid... In the division “ Stop in case of code ” The way of loophole competition , It is necessary to fully investigate the development of high-level cars in China AI Can the visual task be completed .
Track operation task 2 Minutes and picture recognition tasks 2 Count down the minutes , This is so that students don't have to panic when switching between them , But the connection time in the middle should not be too long , You can wipe tires between two tasks , However, no structure can be changed from the beginning of the official competition of the whole car to the end of the model inspection , You can't take it down OpenART And rotary steering gear , Because the car participating in the competition should be a complete work .
AI The timing of the visual group is divided into two parts , The first part is the two minute countdown to the track , The second part is the two minute countdown to the identification task , The two parts of the task are countdown competition .
Considering that the game is played at multiple points on the line , At the same time, combined with this year's point system and competition system , Therefore, it is not necessary to buy a timing system for each online match point . During the game , Just keep shooting another in the live picture （ Two minutes ） Just count down the phone , Of course, if you already have a flight by flight timing system , The timing system can still be used （ Two minutes ） count down , And you also need to take a big screen picture of timing , To record the progress of the game （ Two minutes ） Whether the countdown meets the specification .
The integral standard of the track operation task is consistent with that of the basic four-wheel set , Within two minutes of each departure , You can run all the time to get the most points , After rushing out of the track or committing a foul, it will be deemed that the points of this departure stop , It is not allowed to re start from the garage within two minutes of this departure opportunity , It is not allowed to pick up the car and start from the middle of the track after the car breaks the rules or rushes out of the track , This is also an investigation of the stability of the vehicle model .
The picture recognition integral task is divided into “ integral ” And corresponding “ Deduct points ” link , Points can also be recognized in multiple rounds in two minutes , Until the two minute countdown is over .“ Deduct points ” It is a punishment means when identifying mistakes, making wrong actions or not doing actions .
The deduction rule is ： When the corresponding picture appears on the screen , The trolley cannot perform corresponding action or action error , Then deduct the score corresponding to this task . For example, when a picture of fruit appears on the screen , The trolley failed to complete identification and shooting , Then buckle 10 branch ; When even number pictures appear , The trolley failed to travel about 30 centimeter , Then go back to where you are , Then buckle 5 branch ;
The final score is the score of track operation +AI The integral of recognition . Track running task and image recognition task are counted down respectively 2 minute , No time adjustment is allowed between two tasks , Even if you give up a task , The time for another task is only 2 minute .
AI The integral score of each element of the visual group track 、 The scoring criteria for image recognition are shown in the table below ：
|The mission of the competition||The score of the game||remarks|
|Departure task||1||Successful departure according to the departure standard|
|The roundabout mission||5||Complete the whole movement from entering the roundabout to leaving the roundabout|
|Three fork task||5||It must meet the requirements of passing through different three fork intersections and branches twice before and after|
|Crossroads mission||2||Go straight at the crossroads|
|Ramp task||5||A ramp is required to keep the model from the ground at the highest point 15 centimeter|
| Vision AI
|5|| If it's even , Then move forward about 30 centimeter , Then go back to where you are ; If it's odd , Go back about 30 centimeter , Then return to where you are ;
If you make a mistake or don't act , Then buckle 5 branch ;
| Vision AI Group
|5|| If it's even , The model car moves forward about 10 centimeter , Then go back to where you were . If Apriltag Is odd , Then the models are returned about 10 centimeter , Then return to where you are ;
If you make a mistake or don't act , Then buckle 5 branch ;
| Vision AI
|10|| Recognize animals , The camera of the model car swings left and right twice , The swing angle is greater than 90°. Or the front wheels of the model swing left and right twice .
If you make a mistake or don't act , Then buckle 10 branch ;
| Vision AI
|10|| Recognize the fruit , The car model laser tube sends laser to irradiate and target the keyboard under the fruit picture , The laser spot needs to be printed on the keyboard vertically mapped down from the picture （ Hitting on the screen will produce specular reflection , It is not easy to judge whether a target has been hit ）, The exposure time exceeds 1 Second .
If you make a mistake or don't act , Then buckle 10 branch ;
The above scoring criteria need to be further optimized . And in 8 month 15 Make a formal announcement before the th .
The following figure shows the actions of the car model for different picture objects ：
▲ chart 0.1 Identify the QR code and move it in a small range
▲ chart 0.2 Recognition of fruit produces laser projection
▲ chart 0.3 For numbers, complete a large movement according to the parity of the numbers
▲ chart 0.4 Identify the animal model and turn the camera or front wheel
The team has 3 First departure opportunity and identification opportunity , Each departure is limited to two minutes , Each round of identification is also limited to two minutes ; Take the highest score of the three chances as the final score .
The penalty for track operation is consistent with the basic four-wheel set , Need a car to start from the garage , Run the elements in the order of the track , As long as you don't get off the track in two minutes 、 No foul , You can always run on the track and get points , Please refer to the referee's Manual for the judgment of rushing out of the track and fouls .
In the traditional way ,AI There are some difficulties in the preparation of identified data sets , The early release of game data sets leads to the use of other ways to identify and give up AI The possibility of identification , If the data set for the game is released only on the day of the game, it is not guaranteed that all teams have color printers to print .
In order to solve these two contradictions , The organizing committee entrusts zhufei technology to use OpenART mini The image directly displayed on the computer screen 、 Numbers 、AprilTag The identification code is verified , After verification , Just set the appropriate exposure , The model trained with actual pictures can also recognize the content directly displayed on the display screen . When the , Zhufei technology will provide an official competition version of image display software , At the beginning of the official competition , The software follows AprilTag code 、 Animals or fruits 、 Numbers 、 The order of animals or fruits for each round of display , Animals and fruits appear randomly , Fix with AprilTag The sequence of codes and numbers is designed to provide an operation sign for the trolley , Reduce the overall difficulty , This change is also an amendment made according to the demands of some contestants after the release of the draft .
Therefore, the competition will adopt the method of directly identifying the pictures played on the computer screen , For the convenience of students' training , Zhufei technology will first provide you with a picture display software of Training Board , The software can check it for training mode and simulated competition , In training mode, click the button with the corresponding name , The software displays the corresponding picture , Clicking the same button continuously will switch and display other pictures of the category randomly and continuously , Convenient for players to debug , As shown in the following picture ：
▲ chart 1.1 Click the animal button
▲ chart 1.2 Click the fruit button
▲ chart 1.3 Click on Apriltag Code button
▲ chart 1.4 Click the number button
If the contestant wants to simulate the competition process , Check the simulation competition option to simulate the process and sequence of the formal competition , As shown in the following picture ：
▲ chart 1.5 Check the simulation option , After clicking start, the software first displays blank
▲ chart 1.6 After clicking the next picture button for the first time in this round, it will be displayed randomly Apriltag code
▲ chart 1.7 Click the next picture button for the second time in this round , The software randomly displays pictures of animals or fruits
▲ chart 1.8 Click the next picture button for the third time in this round , The software displays numbers randomly
▲ chart 1.9 After clicking the next picture button for the fourth time in this round , The software randomly displays animals or fruits
Training version AI Visual group pictures show the software download address ：
The software version of the official competition will be released on the day of the competition , Pictures are built into the software , The picture source file is not visible to the user , At the same time, the interface of the official competition version is also clearly marked , You should clearly see the software version during live broadcast , It is not allowed to use the training software during the official competition . At the same time, the game needs to be broadcast live and download the software locally through a link , The process of opening the software according to the downloaded Directory , The whole operation process is not included in 2 Minute picture recognition task , The countdown time starts after opening the software , Click on “ Start ” Start when the button is pressed .
Picture recognition site setting requirements ：
Because the trolley needs to make different actions according to the recognition results , Especially numbers and AprilTag The code needs to move back and forth by different distances , So when arranging the site , You need to put one at the front and one at the back, not less than 30CM Use a straight edge to mark the distance , In order to judge the action of the car from the video . At the same time, the data set of the national competition will continue to be selected from the previously published data set , But it is the data set of the competition that will contain pictures of animals or fruits with a dark background .
The picture recognition venue is still arranged next to the track , Any section is greater than 1 Meters straight can , Put the computer in the original target position , There's one at the track 1 Meters long ruler to mark the distance , Put the car on this straight road , As shown in the figure below ：
▲ 1.10 Schematic diagram of testing with laptop
In order to let the players clearly understand the rules , from “ Flying technology ” We recorded a picture recognition task demonstration video ： The 16th National College Student intelligent car competition AI Visual group picture recognition integral task demonstration .
Demo video B Station links ：https://www.bilibili.com/video/BV1hL411E7BV
For the convenience of organization and development , The competition of multiple categories at the same match point starts in series , Therefore, a match point theoretically only needs a live video studio , But you need to rehearse the live shooting angle in advance , Test the live signal , It is recommended to use faster 5G Live broadcast of the signal , If indoor WiFi The signal is stable , Also can use WiFi Live on the Internet , Each process needs to be clearly photographed during live shooting , If there is a hand-held stabilizer or tripod , It is recommended to use such equipment , This ensures a stable picture , Make the recorded video better .
The following are the detailed requirements ：
1. After departure, the contestant can't follow the car , It is not allowed to operate or contact the trolley during the operation of the trolley , At the same time, avoid blocking the shooting line of sight ;
2. You need to see the mobile phone or large screen or other countdown devices in the field of view of the live broadcast , No points will be given for the completed actions after the countdown ;
3. When running on the track , After departure, the camera should capture the car in time , Don't lose it. Let the car run out of sight ;
4. When shooting a recognition task , The action of the car and the content of the recognized picture need to be photographed clearly , It is convenient to judge whether the action is completed correctly through video , At the same time, it is necessary to put a hand not less than... On the side of the track 100cm Use a straight edge to mark the distance , The center of the ruler is aligned with the center of the trolley , In order to judge whether the action of the car meets the standard from the video .;
5. Need to arrange a seat for live broadcast , One stand records local video storage , In case of signal problems , There is a video of another stand as reference evidence ;
6. During live video broadcasting, the competition process needs to be explained and broadcast in real time , At the same time, you need to open the live broadcast on another computer and record the whole live broadcast process , Finally, it will be summarized and submitted to the organizing committee as effective materials , Please familiarize yourself with the whole operation process in advance ;
7. The official competition needs to be equipped with referees like the sub competition area to judge the competition process , Please refer to the referee's Manual for specific penalty criteria ;
8. The model inspection process also needs to be broadcast live , Refer to the technical requirements table for the inspection requirements of vehicle model ;
9. The purpose of the live broadcast is to make the competition process open and transparent , Don't let people have the situation that they don't see the key points in the live broadcast , This is controversial , So we need to be strict with ourselves in the preparation process , Be open and transparent , The video captures all the details , In case of doubt, it is also easy to have video evidence as an explanation , Let's uphold the rules of the game , To eliminate doubt ;
This year's national finals adopted online competition because of the epidemic , The track is laid by itself , Therefore, each team can have sufficient debugging time in the preparation process , And the team model has high performance , High reliability . So in order to make online games more compact , It's very ornamental , It can be decided three times . That is, each team only starts three times , The track running and picture recognition tasks of each departure are two minutes respectively , Take the best result as the final result .
If the same score occurs , According to the sorting method of other groups .
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