Awesome
MapBEVPrediction
This repository contains the official implementation of Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention published in ECCV 2024.
Note: This is an untested version. Most of the code are adopted from my previous work. Let me know if any (very likely) bugs appear and I will fix it ASAP. Will try to run this from scratch hopefully soon (still at internship so time is not guaranteed :( ). Thank you so much for your interest and support!!
Getting Started
- Environment Setup
- Prepare Dataset
- Mapping Train and Eval
- Merge Map and Trajectory Dataset
- Trajectory Train and Eval
- Visualization
Results
Mapping checkpoints are here. Trajectory prediction checkpoints are here.
Dataset
I have uploaded two sample datasets (complete) for MapTRv2
and MapTRv2 CL
. They are around 500GB each. You can download them through AWS S3. They are located at
- AWS Bucket Name: s3://mapbevprediction
- Region: us-east-2
Dataset Structure is as follows:
mapbevprediction
├── maptrv2_bev/
│ ├── mini_val/
│ | ├── data/
│ | | ├── scene-{scene_id}.pkl
│ ├── train/
│ ├── val/
├── maptrv2_cent_bev/
Catalog
- Visualization Code
- Code release
- MapTR
- MapTRv2
- StreamMapNet
- HiVT
- DenseTNT
- Untested version released + Instructions
- Initialization
Citation
If you found this repository useful, please consider citing our work:
@Inproceedings{GuSongEtAl2024,
author = {Gu, Xunjiang and Song, Guanyu and Gilitschenski, Igor and Pavone, Marco and Ivanovic, Boris},
title = {Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention},
booktitle = {European Conference on Computer Vision (ECCV)},
year = {2024}
}
This codebase is built using our prior work, if your found this helpful, please also consider citing:
@Inproceedings{GuSongEtAl2024,
author = {Gu, Xunjiang and Song, Guanyu and Gilitschenski, Igor and Pavone, Marco and Ivanovic, Boris},
title = {Producing and Leveraging Online Map Uncertainty in Trajectory Prediction},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2024}
}
License
This repository is licensed under Apache 2.0.