gap8-obstacle-avoidance

This repository contains the code used to deploy NanoFlowNet on the AI-deck.

Please refer to the main repository for the used models and the Crazyflie obstacle avoidance application

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How to use

Install gap_sdk

git clone git@github.com:GreenWaves-Technologies/gap_sdk.git
git checkout ef8ee923dfb39cf2ef962d25e5bf69f8881ebfb3

Implement the following bug workaround in gap_sdk. Modify rtos/pmsis/bsp/include/bsp/ai_deck.h, put the following at the bottom of the file, before the #endif

// #define CONFIG_SPIFLASH_SECTOR_SIZE (1<<12)

#include "bsp/flash/hyperflash.h"
#include "bsp/ram/hyperram.h"

#define pi_default_flash_conf pi_hyperflash_conf
#define pi_default_flash_conf_init pi_hyperflash_conf_init

#define pi_default_ram_conf pi_hyperram_conf
#define pi_default_ram_conf_init pi_hyperram_conf_init

// #endif

Follow the installation instructions (README.md, make sure you are on the suggested commit). Source the AI-deck config file; configs/ai_deck.sh. Modify OPENOCD_CABLE if necessary (redo source). Perform a full install; make sdk.

Configuration

nntool_script can be modified to include grayscale image (112hx160w) file paths for quantization and quantization evaluation. No sample images are included. Default config uses fquant ("fake" quantization).

Execution

To execute on the AI-deck, in this repo:

make all run PMSIS_OS=pulpos platform=board

To flash

make all flash PMSIS_OS=pulpos platform=board

freertos and gvsoc are not supported.

Publication:

arXiv preprint

IEEE-ICRA 2023 paper

Please cite us as follows:

@inproceedings{bouwmeester2023nanoflownet,
  title={Nanoflownet: Real-time dense optical flow on a nano quadcopter},
  author={Bouwmeester, Rik J and Paredes-Vall{\'e}s, Federico and De Croon, Guido CHE},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1996--2003},
  year={2023},
  organization={IEEE}
}