Transfer SemanticKITTI labeles into other dataset/sensor formats.

Overview

LiDAR-Transfer

Transfer SemanticKITTI labeles into other dataset/sensor formats.

Motivation

Content

Usage

Install Dependencies
pip install pyaml pyqt5 scikit-image scipy torchvision

pip install pycuda

pip install vispy

Or use local installation to apply antialias patch

git clone https://github.com/vispy/vispy.git
cd vispy
git apply ../lidar_transfer/vispy_antialias.patch
pip install -e .

Finally, you have to compile the ray tracer in auxiliary/raytracer, i.e.,

$ cd auxiliary/raytracer/ 
$ make
Get started
  1. Unzip minimal.zip
  2. Run
    python lidar_deform.py -d minimal
    
  3. Run with target sensor
    python lidar_deform.py -d minimal -t minimal/target.yaml
    
  4. Change parameter in config/lidar_transfer.yaml

Credits

Developed by Ferdinand Langer, 2019. This tool uses the following open source software:

License

Copyright 2020, Ferdinand Langer, Cyrill Stachniss. University of Bonn.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Citation

When you use our code in any academic work, please cite the original paper.

@inproceedings{langer2020iros,
    author = {F. Langer and A. Milioto and A. Haag and J. Behley and C. Stachniss},
    title = {{Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks}},
    booktitle = {Proc.~of the IEEE/RSJ Intl. Conf. on Intelligent Robots and System (IROS)},
    year = {2020},
    url = {http://www.ipb.uni-bonn.de/pdfs/langer2020iros.pdf},
    videourl = {https://youtu.be/6FNGF4hKBD0},
}
Owner
Photogrammetry & Robotics Bonn
Photogrammetry & Robotics Lab at the University of Bonn
Photogrammetry & Robotics Bonn
Orthogonal Jacobian Regularization for Unsupervised Disentanglement in Image Generation (ICCV 2021)

Orthogonal Jacobian Regularization for Unsupervised Disentanglement in Image Generation Home | PyTorch BigGAN Discovery | TensorFlow ProGAN Regulariza

Yuxiang Wei 54 Dec 30, 2022
Element selection for functional materials discovery by integrated machine learning of atomic contributions to properties

Element selection for functional materials discovery by integrated machine learning of atomic contributions to properties 8.11.2021 Andrij Vasylenko I

Leverhulme Research Centre for Functional Materials Design 4 Dec 20, 2022
PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and reinforcement learning

safe-control-gym Physics-based CartPole and Quadrotor Gym environments (using PyBullet) with symbolic a priori dynamics (using CasADi) for learning-ba

Dynamic Systems Lab 300 Dec 28, 2022
A 2D Visual Localization Framework based on Essential Matrices [ICRA2020]

A 2D Visual Localization Framework based on Essential Matrices This repository provides implementation of our paper accepted at ICRA: To Learn or Not

Qunjie Zhou 27 Nov 07, 2022
Codes and Data Processing Files for our paper.

Code Scripts and Processing Files for EEG Sleep Staging Paper 1. Folder Tree ./src_preprocess (data preprocessing files for SHHS and Sleep EDF) sleepE

Chaoqi Yang 18 Dec 12, 2022
Semi Supervised Learning for Medical Image Segmentation, a collection of literature reviews and code implementations.

Semi-supervised-learning-for-medical-image-segmentation. Recently, semi-supervised image segmentation has become a hot topic in medical image computin

Healthcare Intelligence Laboratory 1.3k Jan 03, 2023
Toolbox of models, callbacks, and datasets for AI/ML researchers.

Pretrained SOTA Deep Learning models, callbacks and more for research and production with PyTorch Lightning and PyTorch Website • Installation • Main

Pytorch Lightning 1.4k Dec 30, 2022
Code for "The Box Size Confidence Bias Harms Your Object Detector"

The Box Size Confidence Bias Harms Your Object Detector - Code Disclaimer: This repository is for research purposes only. It is designed to maintain r

Johannes G. 24 Dec 07, 2022
PyTorch 1.0 inference in C++ on Windows10 platforms

Serving PyTorch Models in C++ on Windows10 platforms How to use Prepare Data examples/data/train/ - 0 - 1 . . . - n examples/data/test/

Henson 88 Oct 15, 2022
RoboDesk A Multi-Task Reinforcement Learning Benchmark

RoboDesk A Multi-Task Reinforcement Learning Benchmark If you find this open source release useful, please reference in your paper: @misc{kannan2021ro

Google Research 66 Oct 07, 2022
Plotting points that lie on the intersection of the given curves using gradient descent.

Plotting intersection of curves using gradient descent Webapp Link --- What's the app about Why this app Plotting functions and their intersection. A

Divakar Verma 2 Jan 09, 2022
Learning from graph data using Keras

Steps to run = Download the cora dataset from this link : https://linqs.soe.ucsc.edu/data unzip the files in the folder input/cora cd code python eda

Mansar Youness 64 Nov 16, 2022
An essential implementation of BYOL in PyTorch + PyTorch Lightning

Essential BYOL A simple and complete implementation of Bootstrap your own latent: A new approach to self-supervised Learning in PyTorch + PyTorch Ligh

Enrico Fini 48 Sep 27, 2022
A new benchmark for Icon Question Answering (IconQA) and a large-scale icon dataset Icon645.

IconQA About IconQA is a new diverse abstract visual question answering dataset that highlights the importance of abstract diagram understanding and c

Pan Lu 24 Dec 30, 2022
This repository contains the official implementation code of the paper Improving Multimodal Fusion with Hierarchical Mutual Information Maximization for Multimodal Sentiment Analysis, accepted at EMNLP 2021.

MultiModal-InfoMax This repository contains the official implementation code of the paper Improving Multimodal Fusion with Hierarchical Mutual Informa

Deep Cognition and Language Research (DeCLaRe) Lab 89 Dec 26, 2022
Pytorch for Segmentation

Pytorch for Semantic Segmentation This repo has been deprecated currently and I will not maintain it. Meanwhile, I strongly recommend you can refer to

ycszen 411 Nov 22, 2022
Fake-user-agent-traffic-geneator - Python CLI Tool to generate fake traffic against URLs with configurable user-agents

Fake traffic generator for Gartner Demo Generate fake traffic to URLs with custo

New Relic Experimental 3 Oct 31, 2022
Streamlit component for TensorBoard, TensorFlow's visualization toolkit

streamlit-tensorboard This is a work-in-progress, providing a function to embed TensorBoard, TensorFlow's visualization toolkit, in Streamlit apps. In

Snehan Kekre 27 Nov 13, 2022
[ArXiv 2021] Data-Efficient Instance Generation from Instance Discrimination

InsGen - Data-Efficient Instance Generation from Instance Discrimination Data-Efficient Instance Generation from Instance Discrimination Ceyuan Yang,

GenForce: May Generative Force Be with You 93 Dec 25, 2022
A hue shift helper for OBS

obs-hue-shift A hue shift helper for OBS This is a repo based on the really nice script Hegemege made. The original script can be found https://gist.g

Alexis Tyler 1 Jan 10, 2022