We introduce an algorithm to do occlusion detection using an off-the-shelf algorithm. Also, we demonstrate the importance by showing its benefits on a few downstream tasks.
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First, prepare VRKITTI2 dataset by downloading from VRKITTI2. You need to at least include those packages:
- vkitti_2.0.3_rgb.tar
- vkitti_2.0.3_depth.tar
- vkitti_2.0.3_classSegmentation.tar
- vkitti_2.0.3_instanceSegmentation.tar
- vkitti_2.0.3_textgt.tar.gz
- vkitti_2.0.3_forwardFlow.tar
- vkitti_2.0.3_backwardFlow.tar
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Extract all rar into a common folder and run:
python exp_VRKITTI/organize_VRKitti2.py --virtualkitti_root your_vrkitti2_root --export_root your_target_location_for_organized_vrkitti2 -
Finally run the following script to get a visualization of algorithm:
python exp_VRKITTI/dev/self_epp_occ_numba_forward.py --vrkittiroot your_target_location_for_organized_vrkitti2 --vlsroot your_target_location_for_visualization