Autonomous-Driving

Demo

See https://github.com/Evvvvvvvva/AutonomousDriving/blob/master/report.pdf

Require packages:

• python 3.6.8
• torch 1.3.1
• torchvision 0.4.2
• Keras 2.3.1
• tensorflow 2.0.0
• Pillow 6.1.0
• open3d 0.8.0.0
• matplotlib 3.1.2
• webcolors 1.10
• numpy 1.17.4
• scipy
• scikit-image 0.15.0
• opencv3.4.2

Data folder structure

• The KITTI dataset for this project is in data folder

  • form a data folder like this:
    • test:
      • calib
      • image_left
      • image_right
    • train:
      • calib
      • image_left
      • image_right
      • gt_image_left
    • train_angle:
      • image
      • labels

• The pre-trained model for road detection is road_model_final.h5, for road segmentation it is md.pth, for car viewpoint it is model.h5

current scripts for each subtasks:

• get disparity map and depth map

  python image_processing.py
  

  The line 114 is our implemented method for disparity map, and line 116 is the openCV API call for diparity map

• get road detection ground truth mask and visualization

  python road_detection.py
  

  If you don't want to train the model yourself, you could comment out line 117-206

  Reference: https://www.depends-on-the-definition.com/unet-keras-segmenting-images/

• get road segmentation visualization

  python road_segmentation.py
  

  If you don't want to train the model yourself, you could comment out line 298-305

  Reference: https://arxiv.org/pdf/1808.04450.pdf

• fit a ground plane and visualize it with 3D Points Cloud

  python road_visualization.py
  

• detect cars in the image

  python car_detection.py
  

  Reference: https://www.learnopencv.com/faster-r-cnn-object-detection-with-pytorch/

• get car viewpoint

  python car_viewpoint.py
  

  This file is just for training the model and visualize the loss/accuracy during the training

  Reference: https://www.learnopencv.com/image-classification-using-convolutional-neural-networks-in-keras/

• visualize cars and their viewpoint in the image

  python car_visualization.py
  

  This file loads pre-trained model

Contributers:

Fanxuan Guo 👀📖

Shiqi Lin 📦💡