Code repository for Semantic Terrain Classification for Off-Road Autonomous Driving

Overview

BEVNet

Datasets

Datasets should be put inside data/. For example, data/semantic_kitti_4class_100x100.

Training

BEVNet-S

Example:

cd experiments
bash train_kitti4-unknown_single.sh kitti4_100/single/include_unknown/default.yaml 
   
     arg1 arg2 ...

   

Logs and model weights will be stored in a subdirectory of the config file like this: experiments/kitti4_100/single/include_unknown/default- -logs/

  • is useful when you want to use the same config file but different hyperparameters. For example, if you want to do some debugging you can use set to debug.
  • arg1 arg2 ... are command line arguments supported by train_single.py. For example, you can pass --batch_size=4 --log_interval=100, etc.

BEVNet-R

The command line formats are the same as BEVNet-S Example:

cd experiments
bash train_kitti4-unknown_recurrent.sh kitti4_100/recurrent/include_unknown/default.yaml 
   
     \
--n_frame=6 --seq_len=20 --frame_strides 1 10 20 \
--resume kitti4_100/single/include_unknown/default-logs/model.pth.4 \
--resume_epoch 0

   

Logs and model weights will be stored in a subdirectory of the config file experiments/kitti4_100/recurrent/include_unknown/default- -logs/ .

Owner
(Brian) JoonHo Lee
5th year MS student at University of Washington. Interested in Robotics, Deep Learning, Kaggle.
(Brian) JoonHo Lee
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