wavelet303 / master_thesis_code

Code for my master thesis: Vehicle Detection and Pose Estimation for Autonomous Driving

Vehicle Detection and Pose Estimation for Autonomous Driving

Libor Novak, May 2017

This repository contains source code for my Master's thesis, which describes a deep leanining approach to 2D and 3D bounding box detectioin of cars from monocular images with an end-to-end neural network. The network was created by combining the ideas from DenseBox, SSD, and MS-CNN. It can perform multi-scale detection of 2D or 3D bounding boxes in a single pass and can run in 10fps on 0.5MPx images (images from the KITTI dataset) on a GeForce GTX Titan X GPU.

For details about the method see PDF with the Master's thesis.

2D and 3D Bounding Box Detection Video

I created a video showing the output of a trained r_2_x2_to_x16_s2 DNN on unseen data - sequences from the KITTI dataset, which you can find on YouTube (https://youtu.be/O9OMIL0NwYk).

Network Models

The final 2D and 3D detection network architectures can be found in caffe/models. There are 2 networks with the same structure:

• macc_0.3_r2_x2_to_x16_s2 - 2D bounding box detection network
• macc3d_0.3_r2_x2_to_x16_s2 - 3D bounding box detection network

Testing

There are several executables for examination of the network testing output under caffe/examples/ln. The fact that their names contain 'pyramid' is a bit misleading as now the image pyramid has only one scale and the detectors perform multiscale detection by themseslves.

• macc_pyramid_test - running a 2D detector
• macc3d_pyramid_test - running a 3D detector
• detect_pyramid - displays response maps of a 2D or a 3D detector

2D

Either you can train your own model or download trained 2D weights (60MB). The executable takes a TXT file list with the list of image paths to run the detection on, which looks like this:

path/to/file/0001.png
path/to/file/0002.png
...

To run the 2D bounding box detector use a similar command to this

./caffe/build/examples/ln/macc_pyramid_test macc_0.3_r2_x2_to_x16_s2_deploy.prototxt macc_0.3_r2_x2_to_x16_s2_iter_40000.caffemodel image_list_test.txt detections.bbtxt

It creates 2 files - detections.bbtxt and detections_nms.bbtxt, you want to browse the latter because it is after non-maxima suppression. To see the detections in the images run the provided Python script for browsing BBTXT files:

python ./scripts/show_bbtxt_detections.py detections_nms.bbtxt 'kitti'

3D

Running the 3D bounding box detector is very similar. First, train or download trained 3D weights (60MB). You will again need a TXT file list as shown above. However, on top of that the camera matrix P and the ground plane equation needs to be provided in a form of a PGP file (the PGP file is described in the thesis). Here are examples of few lines from the PGP file for the KITTI dataset:

image_2/005425.png 721.537700 0.000000 609.559300 44.857280 0.000000 721.537700 172.854000 0.216379 0.000000 0.000000 1.000000 0.002746 0.000000 1.000000 0.000000 -2.100000
image_2/004714.png 721.537700 0.000000 609.559300 44.857280 0.000000 721.537700 172.854000 0.216379 0.000000 0.000000 1.000000 0.002746 0.000000 1.000000 0.000000 -2.100000
image_2/002782.png 721.537700 0.000000 609.559300 44.857280 0.000000 721.537700 172.854000 0.216379 0.000000 0.000000 1.000000 0.002746 0.000000 1.000000 0.000000 -2.100000
...

The command to run the detector is very similar to the 2D one:

./caffe/build/examples/ln/macc3d_pyramid_test macc3d_0.3_r2_x2_to_x16_s2_deploy.prototxt macc3d_0.3_r2_x2_to_x16_s2_iter_80000.caffemodel image_list_test.txt detections.bb3txt test.pgp

Again, 2 files will be created - detections.bb3txt and detections_nms.bb3txt. To browse the latter run

python ./scripts/show_bb3txt_detections.py detections_nms.bb3txt 'kitti' --path_pgp=test.pgp

It will show you the reconstructed 3D bounding box and the top view of the scene.