3D Lidar segmentation on PKU POSS dataset using rangenet++ model
Examples of segmentation results from PKU POSS dataset:
Download the data set from here: http://www.poss.pku.edu.cn/download.html
Dataset for semantic segmentation of 3d lidar data in dynamic scene using semi-supervised learning(2019 Mei T-ITS)(2.16GB)
Then put it in your root directory.
RTX 2080Ti(11G), Cuda 10.1, torch 1.7.1, torchvision 0.8.2
This code provides code to train and deploy Semantic Segmentation of LiDAR scans, using range images as intermediate representation.
cd rangenet-POSS/poss_rangenet/lidar-bonnetal/train/tasks/semantic
To train: ./train.py -d /root/dataset -ac /root/cfgs/darknet53.yaml -dc /root/cfgs/data_cfg.yaml -l /root/train_log_darknet53
To evaluate: ./evaluate_iou.py -d /root/dataset -p /root/pred_dartnet53 --split test -dc /root/train_log_darknet53/data_cfg.yaml
To infer: ./infer.py -d /root/dataset -l /root/pred_squeezeseg -m /root/train_log_squeezeseg
To visualize: ./visualize.py -d /root/dataset -p /root/pred_dartnet53 -s 00