Not the exact same implementation as the original LBC code ? about 2020_carla_challenge HOT 5 CLOSED

Correct! The conditional command here is a "target heatmap", which is the target point projected into the camera view. I found this to work a little better, but have yet to evaluate this quantitatively

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Thanks. Interesting result. I think there is less ambiguity when one use the target heatmap instead of the high level command. That may explain the performance gain if validated.

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Hi @bradyz can you explain a bit more about this target heatmap? I am really interested in knowing a bit more about it.

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So instead of using discrete commands, we render the project the future waypoint (this is typically pretty far, maybe 50 meters or so) into the first person view as a heatmap, then concatenate this to the RGB image.

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I see. This makes sense. Thank you for the quick response!

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