Toolkit for ApolloScape Dataset

Introduction

This is a repo of toolkit for ApolloScape Dataset, ApolloScape ECCV challenge and ApolloScape CVPR 2019 Workshop on Autonomous Driving Challenge. It includes lanemark segmentation, online self-localization, 3D car instance understanding, Trajectory Prediction, 3D Lidar Object Detection and 3D Lidar Object Tracking and Stereo. Some example videos and images are shown below:

Stereo estimation:

Trajectory Prediction:

3D Lidar Object Detection and Tracking:

Lanemark segmentation:

Online self-localization:

3D car instance understanding:

Data Download

wget https://ad-apolloscape.cdn.bcebos.com/road01_ins.tar.gz 
or
wget https://ad-apolloscape.bj.bcebos.com/road01_ins.tar.gz

wget https://ad-apolloscape.cdn.bcebos.com/trajectory/prediction_train.zip

Run

pip install -r requirements.txt
source source.rc

to include necessary packages and current path in to PYTHONPATH to use several util functions.

Please goto each subfolder for detailed information about the data structure, evaluation criterias and some demo code to visualize the dataset.

Contact

Please feel free to contact us and raise issues with any questions, suggestions or comments:

• [email protected]