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Generating Dynamic Kernels via Transformers for Lane Detection

In this work, we propose a transformer-based dynamic kernel generation architecture for lane detection. It utilizes a transformer to generate dynamic convolutional kernels for each lane line in the input image, and then detect these lane lines with dynamic convolution.

Framework

Installation

1. Create python environment:

   conda create -n hdmapnet python=3.10
   conda activate hdmapnet
   

2. Install pytorch (>=2.0.0):

   pip install torch torchvision torchaudio torchdata
   

3. Install mmcv (>=2.0.0):

   pip install -U openmim
   mim install mmcv
   

4. Install requirements:

   pip install -r requirements.txt
   

5. Install cuda11.7 (add to your ~/.bashrc and then source ~/.bashrc)

   export CUDA_HOME=/usr/local/cuda-11
   export PATH=$PATH:$CUDA_HOME/bin
   export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
   

Prepare Dataset

1. Put your dataset into /path/to/datasets/
2. Rename the dataset directory with the parameter after -d, e.g., /path/to/datasets/openlane
3. A more convenient way is ln -s /path/to/datasets/original_name /path/to/datasets/openlane
4. The directory structure should look like this:

   /path/to/datasets/
   ├── openlane
   │   ├── images
   │   │   ├── training
   │   │   └── validation
   │   ├── lane3d_1000
   │   │   ├── training
   │   │   ├── validation
   │   │   └── test
   │   │       ├── curve_case
   │   │       ├── merge_split_case
   │   │       └── ...
   │   └── lane3d_3000.tar
   ├── curvelanes
   ├── culane
   └── tusimple
   

Install Evaluation Tools

1. Install opencv:

   git clone https://github.com/opencv/opencv.git
   cd ~/opencv
   mkdir build
   cd build
   cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
   make -j7
   sudo make install
   

2. Install openlane evaluation tool:

   cd /path/to/project/tools/metrics/lane/openlane/lane2d
   # specify your opencv path in ./Makefile#L40,41 (OPENCV_INCLUDE and OPENCV_LIB_PATH)
   make
   

Training & Evaluation

1. Training debug:

   python tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint -b 4 -j 4
   

2. Evaluation debug:

   python tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint -b 4 -j 4 --eval
   

3. Test/visualization debug:

   python tools/test.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --test-dir /path/to/output -b 4 -j 4
   

4. Multi-gpu training:

   python -m torch.distributed.launch --nproc_per_node=4 tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4
   

5. Multi-gpu evaluation:

   python -m torch.distributed.launch --nproc_per_node=4 tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4 --eval
   

6. Multi-gpu test/visualization:

   python -m torch.distributed.launch --nproc_per_node=4 tools/test.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --test-dir /path/to/output --gpu-ids 0,1,2,3 -b 4 -j 4
   

7. Resume from checkpoint:

   python -m torch.distributed.launch --nproc_per_node=4 tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4 --resume
   

8. Training with AMP (Automated Mixed Precision):

   python -m torch.distributed.launch --nproc_per_node=4 tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4 -p amp
   

9. Finetune with a pretrained model (Put its checkpoint.pth.tar under /path/to/checkpoint):

   python -m torch.distributed.launch --nproc_per_node=4 tools/train.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4 --resume --load-model-only
   

Test

1. OpenLane

   python -m torch.distributed.launch --nproc_per_node=4 tools/test.py -a CondLSTR2DRes34 -d openlane -v 2d -c 21 -t lane_det_2d --data-dir /path/to/datasets/  --logs-dir /path/to/checkpoint --test-dir /path/to/checkpoint --gpu-ids 0,1,2,3 -b 4 -j 4
   python tools/metrics/lane/openlane/openlane_2d.py --pred-dir /path/to/output --anno-dir /path/to/datasets/openlane --translate
   

2. CurveLanes