Certainty Equivalent Perception-based Control

This repository includes the code necessary for reproducing experiments presented in Certainty Equivalent Perception-based Control.

In addition to the packages listed in requirements.txt, the code requires the CARLA simulator (https://carla.readthedocs.io/en/latest/start_quickstart/) with python bindings (https://carla.readthedocs.io/en/stable/connecting_the_client/), ORB-SLAM (https://github.com/raulmur/ORB_SLAM2), and ORB-SLAM python bindings (https://github.com/jskinn/ORB_SLAM2-PythonBindings). The host IP and port of the CARLA simulator should be edited in observers.py.

Reproducing experiments

The following set of commands are sufficient for reproducing experiments.

mkdir data/
cd python
python initialize_system_collect_data.py carla-uav
python initialize_system_collect_data.py carla-car
python evaluate_predictors.py carla-uav
python evaluate_predictors.py carla-car
python evaluate_orb.py carla-uav
python evaluate_orb.py carla-car
python closedloop_predictors.py carla-uav
python closedloop_predictors.py carla-uav small
python closedloop_predictors.py carla-car
python closedloop_orb.py carla-car slam

The notebook Plot Results.ipynb parses the saved data and generates plots.