Repository for the Paper "Occupancy Grid Generation with Dynamic Obstacle Segmentation in Stereo Images".
Semantic segmentation results of various trained deep networks on Mapillary Vistas Dataset:
We propose custom OpenTaganrog dataset: link to download
Custom OpenTaganrog dataset consists of rosbag-archives. They include point clouds from Velodyne VLP32C LiDAR, left and right stereo camera images, and vehicle position and orientation from inertial navigation system. The recording was made from a car in urban traffic conditions in Taganrog City, Russia. Odometry was obtained from INS Atlans-C in RTK mode withan accuracy of 0.01m. The dataset contains more than 98000 unlabeled images from a stereo camera with a resolution of 1924x1084.
Image samples from OpenTaganrog dataset:
Training
sh tools/train.shSaving predicted masks
sh tools/vis.shVisualization
sh vis_utils/run_vis.shEvaluation of model
sh tools/eval.shEvaluation from two directories
python eval/get_iou_metric.py