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Drone Detection (Dronacharya)

A deep learning neural net model to detect drone/drones from a given picture using Using Fast R-CNN architecture via Keras-Retinanet Implementation. (Dataset and Pre-Trained model provided)

Live at: http://dronacharya.slapbot.me/

Motivation

  • Me and my partner Nilesh participated in a Hackathon called, MoveHack which had one of the problem statement of Drone and UAV traffic management.

  • One of the key challenges of the problem statement was to detect any UAV or Drone from a given image.

  • I took the challenge by researching online of different techniques of detecting objects from a given picture, and with a prior of experience of using Fast R-CNN architecture in my workplace, I just went with it to see how it fares against drone detection.

Features

  • A pre-trained model is included in the repository ready to be used out of the box for drone detections.
  • Multiple drones can be detected from an image.
  • Dataset used to train the model with clear instructions are provided in the case you'd want to train over a larger dataset.
  • Simple Intuitive API is provided to help in prediction task with full control over tolerance of detecting drones.
  • The entire source code is well documented and uses type hinting for more stability.
  • The installation instructions are separated into two categories depending on your use-case:
    • Training: Well documented instructions from scratch to getting the model trained.
    • Prediction: Specific instructions to simply use pre-trained model right off the bat and go with the workflow.

Installation

Installation is divided into two parts:

  • Prediction
    • You'd want to use pre-trained model to detect drones in a given image.
  • Training
    • You'd want to train the model with larger dataset/fine tine hyper-parameter, etc.

Pre-requisites

  1. Python3
  2. pip
  3. virtualenv

Prediction

System Setup

  1. Update the package index: sudo apt-get update
  2. Install Additional development libraries: sudo apt-get install python3-dev python3-pip libcupti-dev
  3. Install Additional system libraries: sudo apt-get install libsm6 libxrender1 libfontconfig1
  4. Download the pre-trained model to the Trained-Model directory under name: drone-detection-v5.h5 from this link: https://drive.google.com/open?id=1nRMPUQcW9U6E3WjlP751s_77U9a0R5A9

Application Setup

  1. Clone the repo: git clone https://github.com/slapbot/drone-detection
  2. Cd into the directory: cd drone-detection
  3. Create a virtual-env for python: python -m venv drone-detection-env
  4. Activate the virtual-env: source drone-detection-env/bin/activate
  5. Upgrade your pip to latest version: pip install --upgrade pip
  6. Install numpy: pip install numpy==1.17.0
  7. Install the application dependencies: pip install -r requirements.txt
    • This will install Tensorflow CPU, if you want to install GPU version, swap out tensorflow with tensorflow-gpu in requirements.txt
  8. Run python evaluate.py to detect drones from one of the test image saved in the Dataset folder.

Usage

As you can see below the API is super intuitive and self-explaining to use.

from core import Core  

c = Core()  
  
image_filename = c.current_path + "/DataSets/Drones/testImages/351.jpg"  
image = c.load_image_by_path(image_filename)  
  
drawing_image = c.get_drawing_image(image)  
  
processed_image, scale = c.pre_process_image(image)  
  
c.set_model(c.get_model())  
boxes, scores, labels = c.predict_with_graph_loaded_model(processed_image, scale)  
  
detections = c.draw_boxes_in_image(drawing_image, boxes, scores)  
  
c.visualize(drawing_image)

Training

GCP Instance

Create a virtual machine with these specifications. (You're open to use any other host provider or VM, its just what I did in the process.)

CPU 8 core 30 GB memory  
server location: us-west1-b  
GPU 1 Nvidia Tesla K80

Graphic Card Drivers Setup

Install CUDA 8.0

  1. Update Repositories: sudo-apt get update
  2. Create an installation shell script: nano install_cuda.sh
#!/bin/bash  
echo "Checking for CUDA and installing."  
# Check for CUDA and try to install.  
if ! dpkg-query -W cuda; then  
  # The 16.04 installer works with 16.10.  
  curl -O http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-repo-ubuntu1604_8.0.61-1_amd64.deb  
  dpkg -i ./cuda-repo-ubuntu1604_8.0.61-1_amd64.deb  
  apt-get update  
  # apt-get install cuda -y  
  sudo apt-get install cuda-8-0  
fi
  1. Login as root user: sudo su
  2. Install Cuda 8.0: ./install_cuda.sh
  3. Verify the installation: nvidia-smi
  4. Export required env variables:
echo 'export CUDA_HOME=/usr/local/cuda' >> ~/.bashrc  
echo 'export PATH=$PATH:$CUDA_HOME/bin' >> ~/.bashrc  
echo 'export LD_LIBRARY_PATH=$CUDA_HOME/lib64' >> ~/.bashrc  
source ~/.bashrc

Install cuDNN 6.0

  1. Download cuDNN from Nvidia Main website (6.0 version), in my case I saved it in private repo. git clone https://slapbot@bitbucket.org/slapbot/cudnn.git
  2. Cd in directory: cd cudnn
  3. Install .deb package: sudo dkpg -i libcudnn6_6.0.21-1+cuda8.0_amd64.deb

Python Setup

  1. Install python packages: sudo apt-get install python3-dev python3-pip libcupti-dev
  2. Install Tensorflow GPU 1.4: pip3 install --upgrade tensorflow-gpu==1.4.0
  3. Verify Tensorflow Installation: python3 -c "import tensorflow as tf; print(tf.__version__)"

Drone Detection Setup

  1. Clone the repo: git clone https://github.com/slapbot/drone-detection
  2. Cd into the directory: cd drone-detection
  3. Clone keras-retinanet repo: git clone https://github.com/fizyr/keras-retinanet.git
  4. Cd in keras-retinanet repo: cd keras-retinanet
  5. Install package: pip3 install . --user
  6. Install repository wide deps: python3 setup.py build_ext --inplace
  7. Return back to main directory: cd ..

Training the network

  1. Generate annotations, labels and validation annotations: python3 data_preparation.py
  2. Install More packages if necessary - (want to visualise):
pip install opencv-python
pip install Pillow
  1. Train the model using:
python3 keras-retinanet/keras_retinanet/bin/train.py csv annotations.csv classes.csv --val-annotations=validation_annotations.csv
  1. Convert the trained model to inference model:
python3 keras-retinanet/keras_retinanet/bin/convert_model.py resnet50_csv_05.h5 resnet50_csv_05_inference.h5
  1. Now simply copy back the model to Trained-Model directory and follow the prediction instructions to get started with predicting!

Usage

The API is super straightforward and intuitive to understand and consume, taking a look at the evaluate.py should give you a rough understanding of its functioning.

from core import Core  

c = Core()  
  
image_filename = c.current_path + "/DataSets/Drones/testImages/351.jpg"  
image = c.load_image_by_path(image_filename)  
  
drawing_image = c.get_drawing_image(image)  
  
processed_image, scale = c.pre_process_image(image)  
  
c.set_model(c.get_model())  
boxes, scores, labels = c.predict_with_graph_loaded_model(processed_image, scale)  
  
detections = c.draw_boxes_in_image(drawing_image, boxes, scores)  
  
c.visualize(drawing_image)

Advanced API

  • boxes, scores, labels = c.predict_with_graph_loaded_model(processed_image, scale): returns you the boxes, scores and labels of the objects found (in our case labels are just used to do binary classification so there are only two labels.)
  • Each item of box has an associated score, so boxes[0] co-relates with scores[0] and so on, depending on the score, you can say whether its a drone or not, after experimenting, I've figured that 0.5 is a good threshold value for tolerance.

Results

Prototyped in MoveHack - Was selected as top 10 overall solutions across all challenge themes among 7,500 individuals and 3,000 teams that globally competed for Hackathon.

Won the cash prize of ₹10,00,000 and received an invitation to attend the Global Mobility Summit 2018 at Vigyan Bhawan, Delhi by NITI AAYOG to meet major CEOs across automobiles, aviation, mobility organisations and receive the award by Prime Minister of India, Narendra Modi.