/obstacle_detection_stixelnet

stixelnet for obstacle region detection of road scenes

Primary LanguageJupyter Notebook

License: MIT

Obstacle Detection With StixelNet

Dependencies

  • tested on the following environment:
    • OS: tested on Ubuntu 18.04
    • Tensorflow 2.0.0
    • python 3.6
  • installing the dependencies:
    • python3 -m pip install -r requirements.txt

Training Data

Kitti Raw Dataset

Ground Truth

  • Sample of automatically generated ground truth from velodyne pointclouds Sample

Downloading the customized dataset for this repository

    python3 ./scripts/download_kitti_stixels.py

the dataset is about 5.4G, so would take sometime until finishing downloading.

StixelNet Model

StixelNet

Training

After downloading the dataset, run

    python3 ./train.py

model weights will be saved into ./saved_models directory

Test one image

  • Download pretrained model weights with
    python3 ./scripts/download_kitti_stixels_model_weights.py
  • Test on an image
    python3 ./test_single_image.py --model_path [path/to/model/weights]

Sample Result

Sample Result

References