This repo provides a short
.ipynb tutorial for loading and visualizing the CARLA data from the PRECOG paper.
Visualizations on nuScenes data:
CARLA Town01 Data:
Here's a link to the dataset we used for training and evaluating our approach on CARLA Town01 (see Appendix for experiment details) https://drive.google.com/drive/folders/1arYDYuG4SDrQkc4ynzVOG5ObEOVvq9iX
CARLA Town02 Data:
Here's a link to the dataset we used for training and evaluating our approach on CARLA Town01 (see Appendix for experiment details) https://drive.google.com/drive/folders/1s-g5hWtDLrcQPjc6Xra5Up3BFF3jrJle
The overhead_features is a very simple featurization of the 3D LIDAR point cloud. I did not put much effort into tuning this representation. Nonetheless, here's the format:
Channel 0: Histogram of all points in each cell (for all heights)
Channel 1: Histogram of points above ground z-threshold
Channel 2: Histogram of points below ground z-threshold
Channel 3: Histogram of points above a higher z-threshold
-2.0 in the coordinate frame of the LIDAR sensor.