rangenet-POSS

3D Lidar segmentation on PKU POSS dataset using rangenet++ model

Examples of segmentation results from PKU POSS dataset:

Dataset

Download the data set from here: http://www.poss.pku.edu.cn/download.html

Dataset for semantic segmentation of 3d lidar data in dynamic scene using semi-supervised learning(2019 Mei T-ITS)(2.16GB)

Then put it in your root directory.

Environment

RTX 2080Ti(11G), Cuda 10.1, torch 1.7.1, torchvision 0.8.2

Description

This code provides code to train and deploy Semantic Segmentation of LiDAR scans, using range images as intermediate representation.

Scripts

cd rangenet-POSS/poss_rangenet/lidar-bonnetal/train/tasks/semantic

To train: ./train.py -d /root/dataset -ac /root/cfgs/darknet53.yaml -dc /root/cfgs/data_cfg.yaml -l /root/train_log_darknet53

To evaluate: ./evaluate_iou.py -d /root/dataset -p /root/pred_dartnet53 --split test -dc /root/train_log_darknet53/data_cfg.yaml

To infer: ./infer.py -d /root/dataset -l /root/pred_squeezeseg -m /root/train_log_squeezeseg

To visualize: ./visualize.py -d /root/dataset -p /root/pred_dartnet53 -s 00

Result