Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

Related tags

Deep Learningfilterpoint-cloudroslidarself-driving-carautonomous-drivingroad-segmentationlidar-filter
Overview

urban_road_filter: a real-time LIDAR-based urban road and sidewalk detection algorithm for autonomous vehicles

Dependency

  • ROS (tested with Kinetic and Melodic)
  • PCL

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/jkk-research/urban_road_filter
catkin build urban_road_filter

Getting started

Cite & paper

If you use any of this code please consider citing the paper:


@Article{roadfilt2022horv,
    title = {Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles},
    author = {Horváth, Ernő and Pozna, Claudiu and Unger, Miklós},
    journal = {Sensors},
    volume = {22},
    year = {2022},
    number = {1},
    url = {https://www.mdpi.com/1424-8220/22/1/194},
    issn = {1424-8220},
    doi = {10.3390/s22010194}
}

Realated solutions

Videos and images

Comments
  • If the given dataset have a preprocessing?

    If the given dataset have a preprocessing?

    Thanks for your great work! I try to do some experiment on kitti dataset. But I found it does not have the same effect as yours. The blue marks, as shown in the following image, are false positive. I want to wonder if the given dataset have a preprocessing? img

    question 
    opened by LuYoKa 6
  • I need help

    I need help

    Hello, I follow the steps to generate this error. How should I solve it? Thanks Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:75: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/lidar_segmentation.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/lidar_segmentation.cpp.o] Error 4 make[2]: *** 正在等待未完成的任务.... c++: internal compiler error: 已杀死 (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:131: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/z_zero_method.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/z_zero_method.cpp.o] Error 4 c++: internal compiler error: 已杀死 (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions. urban_road_filter/CMakeFiles/lidar_road.dir/build.make:89: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/src/main.cpp.o' failed make[2]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/src/main.cpp.o] Error 4 CMakeFiles/Makefile2:2521: recipe for target 'urban_road_filter/CMakeFiles/lidar_road.dir/all' failed make[1]: *** [urban_road_filter/CMakeFiles/lidar_road.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed

    question 
    opened by chaohe1998 2
  • Follow ROS naming conventions

    Follow ROS naming conventions

    • Naming ROS resources: http://wiki.ros.org/ROS/Patterns/Conventions
    • Package naming: https://www.ros.org/reps/rep-0144.html
    • Naming conventions for drivers: https://ros.org/reps/rep-0135.html
    • Parameter namespacing: http://wiki.ros.org/Parameter%20Server

    e.g. visualization_MarkerArray is not a valid topic name

    enhancement 
    opened by horverno 1
  • StarShapedSearch algorithm not functioning properly

    StarShapedSearch algorithm not functioning properly

    The "star shaped search" detection algorithm seems to function with reduced range and [by angle] only in the first quarter of its detection area (counter-clockwise / positive z angles from x-axis, right-handed coordinate-system).

    The images below show the output using only this algorithm (other detection methods, blind spot correction and output polygon simplification turned off).

    [red line = polygon connecting the detected points]

    2

    3

    opened by csaplaci 0
  • Semi-automated vector map building

    Semi-automated vector map building

    New feature:

    Based on the urban_road_filter output a semi-automated vector map building (e.g. lanelet2 / opendrive) in the global frame (e.g. map)

    (small help)

    enhancement feature 
    opened by horverno 1
Releases(paper)
Owner
JKK - Vehicle Industry Research Center
Széchenyi University's Research Center
JKK - Vehicle Industry Research Center
GitHub Repository
The official implementation of the CVPR2021 paper: Decoupled Dynamic Filter Networks

Decoupled Dynamic Filter Networks This repo is the official implementation of CVPR2021 paper: "Decoupled Dynamic Filter Networks". Introduction DDF is

F.S.Fire 180 Dec 30, 2022
Posterior predictive distributions quantify uncertainties ignored by point estimates.

Posterior predictive distributions quantify uncertainties ignored by point estimates.

DeepMind 177 Dec 06, 2022
Implementation of ICCV2021(Oral) paper - VMNet: Voxel-Mesh Network for Geodesic-aware 3D Semantic Segmentation

VMNet: Voxel-Mesh Network for Geodesic-Aware 3D Semantic Segmentation Created by Zeyu HU Introduction This work is based on our paper VMNet: Voxel-Mes

HU Zeyu 82 Dec 27, 2022
Serving PyTorch 1.0 Models as a Web Server in C++

Serving PyTorch Models in C++ This repository contains various examples to perform inference using PyTorch C++ API. Run git clone https://github.com/W

Onur Kaplan 223 Jan 04, 2023
🔎 Monitor deep learning model training and hardware usage from your mobile phone 📱

Monitor deep learning model training and hardware usage from mobile. 🔥 Features Monitor running experiments from mobile phone (or laptop) Monitor har

labml.ai 1.2k Dec 25, 2022
RefineGNN - Iterative refinement graph neural network for antibody sequence-structure co-design (RefineGNN)

Iterative refinement graph neural network for antibody sequence-structure co-des

Wengong Jin 83 Dec 31, 2022
Learning to Estimate Hidden Motions with Global Motion Aggregation

Learning to Estimate Hidden Motions with Global Motion Aggregation (GMA) This repository contains the source code for our paper: Learning to Estimate

Shihao Jiang (Zac) 221 Dec 18, 2022
Brain tumor detection using Convolution-Neural Network (CNN)

Detect and Classify Brain Tumor using CNN. A system performing detection and classification by using Deep Learning Algorithms using Convolution-Neural Network (CNN).

assia 1 Feb 07, 2022
Python Single Object Tracking Evaluation

pysot-toolkit The purpose of this repo is to provide evaluation API of Current Single Object Tracking Dataset, including VOT2016 VOT2018 VOT2018-LT OT

348 Dec 22, 2022
Analysis of Smiles through reservoir sampling & RDkit

Analysis of Smiles through reservoir sampling and machine learning (under development). This is a simple project that includes two Jupyter files for t

Aurimas A. Nausėdas 6 Aug 30, 2022
Multi-modal Content Creation Model Training Infrastructure including the FACT model (AI Choreographer) implementation.

AI Choreographer: Music Conditioned 3D Dance Generation with AIST++ [ICCV-2021]. Overview This package contains the model implementation and training

Google Research 365 Dec 30, 2022
Detecting Potentially Harmful and Protective Suicide-related Content on Twitter

TwitterSuicideML Scripts for reproducing the Machine Learning analysis of the paper: Detecting Potentially Harmful and Protective Suicide-related Cont

3 Oct 17, 2022
The 1st Place Solution of the Facebook AI Image Similarity Challenge (ISC21) : Descriptor Track.

ISC21-Descriptor-Track-1st The 1st Place Solution of the Facebook AI Image Similarity Challenge (ISC21) : Descriptor Track. You can check our solution

lyakaap 75 Jan 08, 2023
StyleGAN-Human: A Data-Centric Odyssey of Human Generation

StyleGAN-Human: A Data-Centric Odyssey of Human Generation Abstract: Unconditional human image generation is an important task in vision and graphics,

stylegan-human 762 Jan 08, 2023
[CVPRW 2021] Code for Region-Adaptive Deformable Network for Image Quality Assessment

RADN [CVPRW 2021] Code for Region-Adaptive Deformable Network for Image Quality Assessment [Paper on arXiv] Overview Update [2021/5/7] add codes for W

IIGROUP 53 Dec 28, 2022
Twins: Revisiting the Design of Spatial Attention in Vision Transformers

Twins: Revisiting the Design of Spatial Attention in Vision Transformers Very recently, a variety of vision transformer architectures for dense predic

482 Dec 18, 2022
ScaleNet: A Shallow Architecture for Scale Estimation

ScaleNet: A Shallow Architecture for Scale Estimation Repository for the code of ScaleNet paper: "ScaleNet: A Shallow Architecture for Scale Estimatio

Axel Barroso 34 Nov 09, 2022
CountDown to New Year and shoot fireworks

CountDown and Shoot Fireworks About App This is an small application make you re

5 Dec 31, 2022
Implementations of orthogonal and semi-orthogonal convolutions in the Fourier domain with applications to adversarial robustness

Orthogonalizing Convolutional Layers with the Cayley Transform This repository contains implementations and source code to reproduce experiments for t

CMU Locus Lab 36 Dec 30, 2022
Implementation of "Large Steps in Inverse Rendering of Geometry"

Large Steps in Inverse Rendering of Geometry ACM Transactions on Graphics (Proceedings of SIGGRAPH Asia), December 2021. Baptiste Nicolet · Alec Jacob

RGL: Realistic Graphics Lab 274 Jan 06, 2023