Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method

Overview

Cartesian Planner ROS Package

C++/ROS Source Codes for "Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method" published in IEEE Trans. Intelligent Transportation Systems by Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang.

OnRoadPlanning

Installation

  1. Request ma27 linear solver code from HSL for IPOPT, follow the installation instructions from IPOPT HSL autotools.

  2. Install deb package from CASADi Releases.

    sudo dpkg -i libcasadi-v3.5.5.deb
  3. Clone repository to any catkin workspace and compile workspace

    cd ~/catkin_ws/src
    git clone https://github.com/libai1943/CartesianPlanner.git
    cd .. && catkin_make

Example

tits_pedestrian_static_dynamic_3.mp4

Random test case with 6 pedestrians, 3 moving vehicles and 2 static vehicles.

roslaunch cartesian_planner pedestrian_test.launch

Click anywhere in Rviz window with the 2D Nav Goal Tool to start planning.

Acknowledgement

CASADi

Special thanks to Baidu Apollo for common math libraries


Copyright (C) 2022 Bai Li and Yakun Ouyang

Users must cite the following article if they use the source codes to conduct simulations in their new publications. Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang, “Autonomous driving on curvy roads without reliance on Frenet frame: A Cartesian-based trajectory planning method,” IEEE Transactions on Intelligent Transportation Systems, available at https://doi.org/10.1109/TITS.2022.3145389, accepted, 2022.

Owner
Bai Li
Currently working as an associate professor in Hunan University
Bai Li
Spatial Temporal Graph Convolutional Networks (ST-GCN) for Skeleton-Based Action Recognition in PyTorch

Reminder ST-GCN has transferred to MMSkeleton, and keep on developing as an flexible open source toolbox for skeleton-based human understanding. You a

sijie yan 1.1k Dec 25, 2022
Cache Requests in Deta Bases and Echo them with Deta Micros

Deta Echo Cache Leverage the awesome Deta Micros and Deta Base to cache requests and echo them as needed. Stop worrying about slow public APIs or agre

Gingerbreadfork 8 Dec 07, 2021
[CVPR 2022 Oral] MixFormer: End-to-End Tracking with Iterative Mixed Attention

MixFormer The official implementation of the CVPR 2022 paper MixFormer: End-to-End Tracking with Iterative Mixed Attention [Models and Raw results] (G

Multimedia Computing Group, Nanjing University 235 Jan 03, 2023
ML-PersonalWork - Big assignment PersonalWork in Machine Learning, 2021 autumn BUAA.

ML-PersonalWork - Big assignment PersonalWork in Machine Learning, 2021 autumn BUAA.

Snapdragon Lee 2 Dec 16, 2022
Open-source python package for the extraction of Radiomics features from 2D and 3D images and binary masks.

pyradiomics v3.0.1 Build Status Linux macOS Windows Radiomics feature extraction in Python This is an open-source python package for the extraction of

Artificial Intelligence in Medicine (AIM) Program 842 Dec 28, 2022
Joint Discriminative and Generative Learning for Person Re-identification. CVPR'19 (Oral)

Joint Discriminative and Generative Learning for Person Re-identification [Project] [Paper] [YouTube] [Bilibili] [Poster] [Supp] Joint Discriminative

NVIDIA Research Projects 1.2k Dec 30, 2022
Hierarchical Memory Matching Network for Video Object Segmentation (ICCV 2021)

Hierarchical Memory Matching Network for Video Object Segmentation Hongje Seong, Seoung Wug Oh, Joon-Young Lee, Seongwon Lee, Suhyeon Lee, Euntai Kim

Hongje Seong 72 Dec 14, 2022
Few-shot Neural Architecture Search

One-shot Neural Architecture Search uses a single supernet to approximate the performance each architecture. However, this performance estimation is super inaccurate because of co-adaption among oper

Yiyang Zhao 38 Oct 18, 2022
HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDAR. CVPR 2022

HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDAR. CVPR 2022 [Project page | Video] Getting sta

51 Nov 29, 2022
AWS provides a Python SDK, "Boto3" ,which can be used to access the AWS-account from the local.

Boto3 - The AWS SDK for Python Boto3 is the Amazon Web Services (AWS) Software Development Kit (SDK) for Python, which allows Python developers to wri

Shreyas Srivastava 1 Oct 25, 2021
BLEND: A Fast, Memory-Efficient, and Accurate Mechanism to Find Fuzzy Seed Matches

BLEND is a mechanism that can efficiently find fuzzy seed matches between sequences to significantly improve the performance and accuracy while reducing the memory space usage of two important applic

SAFARI Research Group at ETH Zurich and Carnegie Mellon University 19 Dec 26, 2022
Implementation of paper "Decision-based Black-box Attack Against Vision Transformers via Patch-wise Adversarial Removal"

Patch-wise Adversarial Removal Implementation of paper "Decision-based Black-box Attack Against Vision Transformers via Patch-wise Adversarial Removal

4 Oct 12, 2022
CAST: Character labeling in Animation using Self-supervision by Tracking

CAST: Character labeling in Animation using Self-supervision by Tracking (Published as a conference paper at EuroGraphics 2022) Note: The CAST paper c

15 Nov 18, 2022
[ICCV'2021] "SSH: A Self-Supervised Framework for Image Harmonization", Yifan Jiang, He Zhang, Jianming Zhang, Yilin Wang, Zhe Lin, Kalyan Sunkavalli, Simon Chen, Sohrab Amirghodsi, Sarah Kong, Zhangyang Wang

SSH: A Self-Supervised Framework for Image Harmonization (ICCV 2021) code for SSH Representative Examples Main Pipeline RealHM DataSet Google Drive Pr

VITA 86 Dec 02, 2022
Python Auto-ML Package for Tabular Datasets

Tabular-AutoML AutoML Package for tabular datasets Tabular dataset tuning is now hassle free! Run one liner command and get best tuning and processed

Sagnik Roy 18 Nov 20, 2022
Pytorch implementation of FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks

flownet2-pytorch Pytorch implementation of FlowNet 2.0: Evolution of Optical Flow Estimation with Deep Networks. Multiple GPU training is supported, a

NVIDIA Corporation 2.8k Dec 27, 2022
an implementation of softmax splatting for differentiable forward warping using PyTorch

softmax-splatting This is a reference implementation of the softmax splatting operator, which has been proposed in Softmax Splatting for Video Frame I

Simon Niklaus 338 Dec 28, 2022
PyTorch implementation of NeurIPS 2021 paper: "CoFiNet: Reliable Coarse-to-fine Correspondences for Robust Point Cloud Registration"

CoFiNet: Reliable Coarse-to-fine Correspondences for Robust Point Cloud Registration (NeurIPS 2021) PyTorch implementation of the paper: CoFiNet: Reli

76 Jan 03, 2023
Computer vision - fun segmentation experience using classic and deep tools :)

Computer_Vision_Segmentation_Fun Segmentation of Images and Video. Tools: pytorch Models: Classic model - GrabCut Deep model - Deeplabv3_resnet101 Flo

Mor Ventura 1 Dec 18, 2021
PyTorch Implementation of Daft-Exprt: Robust Prosody Transfer Across Speakers for Expressive Speech Synthesis

Daft-Exprt - PyTorch Implementation PyTorch Implementation of Daft-Exprt: Robust Prosody Transfer Across Speakers for Expressive Speech Synthesis The

Keon Lee 47 Dec 18, 2022