HawkDrive

This is the repo for dataset and codes of our paper 'HawkDrive: A Transformer-driven Visual Perception System for Autonomous Driving in Night Scene'

Dataset

Follow this link to download the dataset.

Docker build

Build two images for camera driver(./theimagingsource_ros/docker/) and perception modules(./docker/) following the general docker commands and scripts.

Run the pipeline

# Start the stereo camera capturing in one terminal.
cd theimagingsource_ros/scripts/
./up.sh

# In another terminal, in the container of perception modules, run the corresponding nodes.
# To start Enhancement Node
cd Low_light_Enhancement/
python3 enhance.py

# To start Resize Node
cd Resize_Node/
python3 resize.py

# To start Seg Node
cd Segmentation/
python3 Seg_ROS.py

# To start Depth Estimation Node
cd Depth/
python3 infer_ROS.py
python3 DPT_ROS.py

This project was built on Isaac-ROS, SegFormer, Unimatch, SNR-aware Low Light Enhancement, DPT. Thanks for the great open-sourced work!