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Safe Local Motion Planning with Self-Supervised Freespace Forecasting

By Peiyun Hu, Aaron Huang, John Dolan, David Held, and Deva Ramanan

Citing us

You can find our paper on CVF Open Access. If you find our work useful, please consider citing:

@inproceedings{hu2021safe,
  title={Safe Local Motion Planning with Self-Supervised Freespace Forecasting},
  author={Hu, Peiyun and Huang, Aaron and Dolan, John and Held, David and Ramanan, Deva},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={12732--12741},
  year={2021}
}

Setup

Preprocessing

Training

Refer to train.py.

Testing

Refer to test.py.

Acknowledgements

Thanks @tarashakhurana for help with README.