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SpaTUn: Spatio-Temporal Uncertainty

SpaTUn

Description.

Model Type Likelihood Examples
occupancy3d Bernoulli 3D continuous occupancy maps
scalarfield2d Gaussian, Gamma Elevation maps
scalarfield3d Gaussian, Gamma Position maps, Velocity maps
vetorfield3d Gaussian Velocity maps, acceleration maps
surface3d Bernoulli 3D surfaces

surf

Prerequisites

Install required frameworks:

PyTorch 1.3.0

$ pip3 install torch torchvision

Plotly 4.6.0

$ pip install plotly==4.6.0

Clone the repository

git clone https://github.com/RansML/SpaTUn.git

Example Configurations

The BHM training and plotting module provides a way to quickly save and load experiment configurations via the configs folder. This can be done by setting --config [config_file_name] to load a config, or --save_config [save_to_path] to save a config. For a full list of editable hyper-parameters, refer to the documentation in train.py.

occupancy3d configurations (Vivian and Jason)

Toy3 Dataset: Simple dataset with LIDAR hits along with adjustable uncertainty (sigma). The dataset is located in datasets/toy3/toy3.csv. To run the sample, use:

python3 spatun.py --config toy3_occupancy

scalarfield2d configurations (Lydia, Jason, and Ahmed)

Toy Dataset: Simple dataset with LIDAR hits along with adjustable uncertainty (sigma). The dataset is located in datasets/toy/toy.csv. To run the sample, use:

python3 spatun.py --config toy_regression

Toy2 Dataset: Simple dataset with LIDAR hits along with adjustable uncertainty (sigma). The dataset is located in datasets/toy2/toy2.csv. To run the sample, use:

python3 spatun.py --config toy2_regression

Toy3 Dataset: Simple dataset with LIDAR hits along with adjustable uncertainty (sigma). The dataset is located in datasets/toy3/toy3.csv. To run the sample, use:

python3 spatun.py --config toy3_regression

scalarfield3d/vetorfield3d configurations (Kyle and Ransalu)

Toy 3D velocty dataset in /datasets/toy_velocity/toy_velocity_1.csv:

python spatun.py --config toy_velocity_gauss

Carla radar dataset in /velocity1/radar_carla_test1_frame_250.csv:

python spatun.py --config velocity1_gauss

For Kyle and Ransalu

python spatun.py --config kyle_ransalu/1_toy1_vel --mode tqp

surface3d configurations (Vivian)

bernoulli-surface Dataset: Dataset with samples on the mesh of a shell. The mesh is located in ply_files. To make a csv from sample hit points on the shell, run:

python3 make_csv.py ply_files/shell.ply datasets/bernoulli-surface/shell.csv

Change the parameter 'dataset_path' in the bernoulli-surface config file to the path of the outputted csv file and run:

python3 spatun.py --config bernoulli-surface

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