xijunke / end-to-end-driving

Implementation code for: End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent, IEEE Trans. Intelligent Vehicles, 2022.

End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent

O. Natan and J. Miura, “End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent,” IEEE Trans. Intelligent Vehicles, 2022. [paper]

Related works:

1. O. Natan and J. Miura, “DeepIPC: Deeply Integrated Perception and Control for Mobile Robot in Real Environments,” arXiv:2207.09934, 2022. [paper]
2. O. Natan and J. Miura, “Towards Compact Autonomous Driving Perception with Balanced Learning and Multi-sensor Fusion,” IEEE Trans. Intelligent Transportation Systems, 2022. [paper] [code]
3. O. Natan and J. Miura, "Semantic Segmentation and Depth Estimation with RGB and DVS Sensor Fusion for Multi-view Driving Perception," in Proc. Asian Conf. Pattern Recognition (ACPR), Jeju Island, South Korea, Nov. 2021, pp. 352–365. [paper] [code]

Notes:

1. Some files are copied and modified from [TransFuser, CVPR 2021] repository. Please go to their repository for more details.
2. I assume you are familiar with Linux, python3, NVIDIA CUDA Toolkit, PyTorch GPU, and other necessary packages. Hence, I don't have to explain much detail.
3. Install Unreal Engine 4 and CARLA:
   • For UE4, follow: https://docs.unrealengine.com/4.27/en-US/SharingAndReleasing/Linux/BeginnerLinuxDeveloper/SettingUpAnUnrealWorkflow/
   • For CARLA, go to https://github.com/carla-simulator/carla/releases/tag/0.9.10.1 and download prebuilt CARLA + additional maps. Then, extract them to a directory (e.g., ~/OSKAR/CARLA/CARLA_0.9.10.1)

Steps:

1. Download the dataset and extract to subfolder data. Or generate the data by yourself.
2. To train-val-test each model, go to their folder and read the instruction written in the README.md file
   • X13 (proposed model)
   • S13 (proposed model without SDC mapping)
   • CILRS
   • AIM
   • LF
   • GF
   • TF

Generate Data and Automated Driving Evaluation:

1. Run CARLA server:
   • CUDA_VISIBLE_DEVICES=0 ~/OSKAR/CARLA/CARLA_0.9.10.1/CarlaUE4.sh -opengl --world-port=2000
2. To generate data / collect data, Run expert (results are saved in subfolder 'data'):
   • CUDA_VISIBLE_DEVICES=0 ./leaderboard/scripts/run_expert.sh
3. For automated driving, Run agents (results are saved in subfolder 'data'):
   • CUDA_VISIBLE_DEVICES=0 ./leaderboard/scripts/run_evaluation.sh

To do list:

1. Add download link for the dataset (The dataset is very large. I recommend you to generate the dataset by yourself :D)