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RoMe: Towards Large Scale Road Surface Reconstruction via Mesh Representation

Paper,YouTube, Bilibili

Ruohong Mei, Wei Sui, Jiaxin Zhang, Xue Qin, Gang Wang, Tao Peng, Cong Yang

<p align="center"> <img src="assets/rome_structure.png" width="70%"/> </p> RoMe can also be applied for driving drowsiness reduction based on road surface element matching and alarming (Integration of Cabin and Driving). More details: https://fatigueview.github.io/

nuScenes

In configs/local_nusc.yaml

KITTI Odom

In configs/local_kitti.yaml

Quick Start

Environment

torch==1.10.2+cu111
torchvision==0.11.3+cu111
torchaudio==0.10.2+cu111
pytorch3d==0.6.1
pymeshlab==2021.10 
scipy opencv-py thon tqdm wandb python3.8

For wandb usage, please visit here.

Train a scene from nuScenes

Train a scene from KITTI

Evaluation

Future work

Citation

@misc{mei2023rome,
      title={RoMe: Towards Large Scale Road Surface Reconstruction via Mesh Representation}, 
      author={Ruohong Mei and Wei Sui and Jiaxin Zhang and Xue Qin and Gang Wang and Tao Peng and Cong Yang},
      year={2023},
      eprint={2306.11368},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}