A gate detection algorithm based on cascade object detector for drone race.
The algorithm is able to perform real time rectangle gate detection by extracting the vertex. Four base pattern detectors are trained in advanced and used to detect the vertex.
The red bbox is the detection of top left; yellow for top right; blue for bottom right and green for bottom left. The pink polygon is the detection of the gate.
The detector does not have the property rotation-invariance, raw image should be rotated in advanced (data gathered from agent);
Only darker corners' detectors are implemented in the current version. Lighter corner detectors can improve its performance in various enviroments.