Awesome
Trajectory Prediction for Autonomous Driving with Topometric Map
Repository for the paper "Trajectory Prediction for Autonomous Driving with Topometric Map".
@inproceedings{traj-pred:2022,
title={Trajectory Prediction for Autonomous Driving with Topometric Map},
author={J. Xu, L. Xiao, D. Zhao etal},
booktitle={ICRA},
year={2022}
}
Requirements
-
python 3.6+
-
pytorch 1.4+
Install build requirements
pip install -v -e . # or "python setup.py develop"
Pretrained models
Pre-trained weights can be downloaded here(code: uf9g)
Dataset
├── datasets
│ └── KITTI_RAW
└── trajectory_prediction
├── 07
└── 10
Testing dataset kitti-10 can be downloaded here(code: kbuf)
Train & Test
Train
- Train with multiple GPUs:
sh tools/scripts/dist_train.sh ${NUM_GPUS} -c ${CONFIG_FILE}
- Train with a single GPU:
python tools/train.py --cfg config/trajectory_prediction/transformer.yaml
Test
- Test with a pretrained model:
python tools/test.py --cfg config/trajectory_prediction/transformer.yaml --ckpt cache/transformer_epoch_120.pth