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Trajectory Prediction with Noisy Topometric Map for Autonomous Navigation

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Trajectory Prediction for Autonomous Driving with Topometric Map

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Repository for the paper "Trajectory Prediction for Autonomous Driving with Topometric Map".

@inproceedings{traj-pred:2022,
  title={Trajectory Prediction for Autonomous Driving with Topometric Map},
  author={J. Xu, L. Xiao, D. Zhao etal},
  booktitle={ICRA},
  year={2022}
}

Requirements

  • python 3.6+

  • pytorch 1.4+

Install build requirements

pip install -v -e .  # or "python setup.py develop"

Pretrained models

Pre-trained weights can be downloaded here(code: uf9g)

Dataset

├── datasets
│   └── KITTI_RAW
        └── trajectory_prediction
            ├── 07
            └── 10

Testing dataset kitti-10 can be downloaded here(code: kbuf)

Train & Test

Train

  • Train with multiple GPUs:
sh tools/scripts/dist_train.sh ${NUM_GPUS} -c ${CONFIG_FILE}
  • Train with a single GPU:
python tools/train.py --cfg config/trajectory_prediction/transformer.yaml

Test

  • Test with a pretrained model:
python tools/test.py --cfg config/trajectory_prediction/transformer.yaml --ckpt cache/transformer_epoch_120.pth

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