Attentional Graph Neural Network for Parking Slot Detection

Repository for the paper "Attentional Graph Neural Network for Parking Slot Detection".

@article{gcn-parking-slot:2020,
  title={Attentional Graph Neural Network for Parking Slot Detection},
  author={M. Chen, J. Xu, L. Xiao, D. Zhao etal},
  journal={IEEE Robotics and Automation Letters (RA-L)},
  year={2021},
  volume={6},
  number={2},
  pages={3445-3450},
  doi={10.1109/LRA.2021.3064270}
}

Requirements

python 3.6
pytorch 1.4+
other requirements: pip install -r requirements.txt

Pretrained models

Two pre-trained models can be downloaded with following links.

Link	Code	Description
Model0	bc0a	Trained with ps2.0 subset as in [1]
Model1	pgig	Trained with full ps2.0 dataset

Prepare data

The original ps2.0 data and label can be found here. Extract and organize as follows:

├── datasets
│   └── parking_slot
│       ├── annotations (copy testing and training here)
│       ├── ps_json_label (download from DMPR-PS)
│       ├── testing (from ps2.0)
│       └── training (from ps2.0)

Then you can use the following command lines to prepare the data, please note that these lines are run in DMPR-PS directory, following its data preparation procedure.

Train & Test

Export current directory to PYTHONPATH:

export PYTHONPATH=`pwd`

or add the following lines to demo.py, train.py, test.py in tool directory at the top of file:

import sys
import os
print(os.getcwd())
sys.path.append(os.getcwd())

demo

python3 tools/demo.py -c config/ps_gat.yaml -m cache/ps_gat/100/models/checkpoint_epoch_200.pth

show demo in ps2.0 dataset:

python tools/demo.py -c config/ps2_gat.yaml -m checkpoint_epoch_200.pth

show demo in b2 dataset:

python tools/demo.py -c config/b2_gat.yaml -m checkpoint_epoch_200.pth

train

python3 tools/train.py -c config/ps_gat.yaml

train in ps2.0 dataset

python tools/train.py -c config/ps2_gat.yaml

train in b2 dataset

python tools/train.py -c config/b2_gat.yaml

test

python3 tools/test.py -c config/ps_gat.yaml -m cache/ps_gat/100/models/checkpoint_epoch_200.pth

test in ps2.0 dataset

python tools/test.py -c config/ps2_gat.yaml -m checkpoint_epoch_200.pth

test in b2 dataset

python tools/test.py -c config/b2_gat.yaml -m checkpoint_epoch_200.pth

References