seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(perception): Semantic scene understanding — room/environment classification + object detection #141

New Issue
Closed
opened 2026-03-02 09:31:27 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:31:27 -05:00
Collaborator
Copy Link

Summary

Scene understanding for context-aware robot behavior.

Requirements

  • Room classification: Detect room type (kitchen, living room, hallway, outdoor, garage) from visual features
  • Object detection: YOLOv8-nano TensorRT for common objects (chairs, tables, doors, stairs, pets)
  • Hazard detection: Identify stairs, drops, wet floors, glass doors
  • Context topics: /social/scene/room_type, /social/scene/objects (DetectionArray)
  • Behavior adaptation: Robot adjusts speed/personality based on scene context
  • Nav2 integration: Objects as dynamic obstacles in costmap
  • Performance: 15+ FPS on Orin with YOLOv8-nano TRT FP16

Agent: sl-perception

Labels: social-bot, perception

## Summary Scene understanding for context-aware robot behavior. ## Requirements - **Room classification**: Detect room type (kitchen, living room, hallway, outdoor, garage) from visual features - **Object detection**: YOLOv8-nano TensorRT for common objects (chairs, tables, doors, stairs, pets) - **Hazard detection**: Identify stairs, drops, wet floors, glass doors - **Context topics**: /social/scene/room_type, /social/scene/objects (DetectionArray) - **Behavior adaptation**: Robot adjusts speed/personality based on scene context - **Nav2 integration**: Objects as dynamic obstacles in costmap - **Performance**: 15+ FPS on Orin with YOLOv8-nano TRT FP16 ## Agent: sl-perception ## Labels: social-bot, perception
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#141
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?