Readme update (#2)

* readme_update - Updated README.md

* readme_update - Updated README.md

* readme_update - Updated README.md

README.md

@@ -1,8 +1,33 @@
 # ros_handler_detector
+## About
+
+<p align="center">
+  <img alt="1" src="imgs/detections1.jpg" width="30%">
+&nbsp; &nbsp; &nbsp; &nbsp;
+  <img alt="2" src="imgs/detections2.jpg" width="30%">
+&nbsp; &nbsp; &nbsp; &nbsp;
+  <img alt="3" src="imgs/detections3.jpg" width="30%">
+</p>
+
+The goal of the project is to build a ROS node that would be responsible for detecting handlers of articulated objects such as cabinets, wardrobes, or lockers. The module uses a neural network to perform the task and utilizes CenterNet Resnet50 V1 architecture. The dataset used for training, evaluation, and testing is available [here](https://drive.google.com/file/d/11P2eSMlXDSz065TxQTR-hYyBDkFpOWnZ/view?usp=sharing)
+
+This module is part of my master thesis "Point cloud-based model of the scene enhanced with information about articulated objects" and works best with the other three modules that can be found here:
+- [Front detector](https://github.com/arekmula/ros_front_detection_segmentation)
+- [Rotational joint detector](https://github.com/arekmula/ros_joint_segmentation)
+- [Articulated objects scene builder](https://github.com/arekmula/articulated_objects_scene_builder)
+
+## Results
+- mAP@IoU=.50 -> **0.928**
+- mAP@IoU=.75 -> **0.473**
+- mAP@IoU=0.50:0.95 -> **0.503**
+
+## Prerequisities
+- Ubuntu 20.04
+- ROS Noetic
+- Tensorflow 2
+- Python 3.8
 
 ## Installation
-First ROS Noetic and tensorflow should be installed
-Then:
 ```
 mkdir -p caktin_ws/src
 cd catkin_ws
@@ -31,8 +56,11 @@ rosparam set rgb_image_topic "image/topic"
 ```
 rosparam set visualize_handler_prediction True/False
 ```
-
 - Run with
 ```
 rosrun handler_detector handler_detector.py
+```
+- Change detection threshold if you want
+```
+rosparam set handler_prediction_threshold 0.7
 ```