fusionpls
Panoptic LiDAR Segmentation Based on LiDAR-Camera Fusion
Science Score: 39.0%
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Repository
Panoptic LiDAR Segmentation Based on LiDAR-Camera Fusion
Basic Info
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Metadata Files
README.md
Panoptic LiDAR Segmentation Based on LiDAR-Camera Fusion
This repository contains the implementation of our paper.
Installation
- Install this package by running in the root directory of this repo:
pip3 install -U -e .
- Install the packages in requirements.txt.
Data preparation
SemanticKITTI
Download the SemanticKITTI dataset inside the directory data/kitti/. The directory structure should look like this:
./
data/
kitti
sequences
00/
velodyne/
| | 000000.bin
| | 000001.bin
| | ...
image_2/
| | 000000.png
| | 000001.png
| | ...
labels/
| | 000000.label
| | 000001.label
| | ...
poses.txt
calib.txt
08/ # for validation
11/ # 11-21 for testing
21/
...
NuScenes
We use nuscenes2kitti to convert the nuScenes format into the SemanticKITTI format and store it in data/nuscenes/.
In the scripts, use the --nuscenes flag to train or evaluate using this dataset.
Pretrained models
Reproducing results
python3 scripts/evaluate_model.py --w [path_to_model]
Training
``` python3 scripts/train_model.py
```
Citation
bibtex
@article{marcuzzi2023ral,
author = {R. Marcuzzi and L. Nunes and L. Wiesmann and J. Behley and C. Stachniss},
title = {{Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving}},
journal = ral,
volume = {8},
number = {2},
pages = {1141--1148},
year = 2023,
doi = {10.1109/LRA.2023.3236568},
url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/marcuzzi2023ral.pdf},
}
Licence
Copyright 2023, Rodrigo Marcuzzi, Cyrill Stachniss, Photogrammetry and Robotics Lab, University of Bonn.
This project is free software made available under the MIT License. For details see the LICENSE file
Owner
- Name: ComradeXY
- Login: comradexy
- Kind: user
- Company: Zhejiang University of Technology
- Website: http://www.cs.zjut.edu.cn/html/index.html
- Repositories: 1
- Profile: https://github.com/comradexy
My name is Dai Xianyou. I am currently pursuing M.S. degree in computer science and technology with Zhejiang University of Technology.