Submitted by - Sarvesh, Abhinav and Rupesh
Note:
This code is part of CS7180 Final Project, and contains our work for friction estimation and our novel framework for estimating reflectance. This repository contains a lot of different stuff that was used for generation of results, and will be cleaned later on once the coursework is completed and this repository will exclusively serve EF-Net
This is the code system file for running our end-to-end friction implementation on your system and testing out the results
Download ml-dms dataset from https://github.com/apple/ml-dms-dataset
Download the corresponding images by following https://github.com/JunweiZheng93/MATERobot/
Download VAST dataset from https://github.com/RIVeR-Lab/vast_data/
Checkpoints can be downloaded from -- https://drive.google.com/drive/folders/1OUrhzb3kesxPONCfVrQcIYcmYhSZ9V2l?usp=drive_link
Once the data folder is populated with dataset, execute
cd utils
python3 generate_csv_dms.py
python3 generate_csv_vast.py
Checkpoints are in checkpoints
folder and can be used to visualize the results.
python3 test.py #runs all the models and plots the results
python3 train.py --model [endtoend | unet_reg | unet_seg | srcnn] --epochs num_epochs --batch_size batch_size
Example
python3 train.py --model endtoend --epochs 10 --batch_size 100
Note due to preprocessing in VAST dataset it may be possible that some datapoints are dropped, it is highly recommended to use a larger batch size (greater than 100).
The deadline was 13th, we submitted it yesterday, since deadline was changed we did major restructuring in the report. If that's allowed we'd like to use 1 time travel day, thanks!
- https://github.com/JunweiZheng93/MATERobot/ -- for DMS Downloader
- https://github.com/RIVeR-Lab/vast_data/ -- VAST dataset
- https://github.com/apple/ml-dms-dataset -- ml-dms dataset