{"id":13445233,"url":"https://github.com/avishkarsaha/translating-images-into-maps","last_synced_at":"2025-03-20T20:32:08.828Z","repository":{"id":37600593,"uuid":"413033331","full_name":"avishkarsaha/translating-images-into-maps","owner":"avishkarsaha","description":"Official PyTorch code for 'Translating Images Into Maps' ICRA 2022 (Outstanding Paper Award)","archived":false,"fork":false,"pushed_at":"2024-09-09T07:19:41.000Z","size":1827,"stargazers_count":400,"open_issues_count":19,"forks_count":49,"subscribers_count":22,"default_branch":"main","last_synced_at":"2024-09-09T08:58:17.300Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/avishkarsaha.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-10-03T09:34:11.000Z","updated_at":"2024-09-09T07:19:45.000Z","dependencies_parsed_at":"2023-02-16T05:16:22.888Z","dependency_job_id":"88cebfd4-4e4d-40b8-9594-7e8601a689b1","html_url":"https://github.com/avishkarsaha/translating-images-into-maps","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/avishkarsaha%2Ftranslating-images-into-maps","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/avishkarsaha%2Ftranslating-images-into-maps/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/avishkarsaha%2Ftranslating-images-into-maps/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/avishkarsaha%2Ftranslating-images-into-maps/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/avishkarsaha","download_url":"https://codeload.github.com/avishkarsaha/translating-images-into-maps/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221807649,"owners_count":16883627,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-07-31T05:00:27.263Z","updated_at":"2024-10-28T08:30:30.756Z","avatar_url":"https://github.com/avishkarsaha.png","language":"Python","funding_links":[],"categories":["二、Camera-based BEV"],"sub_categories":["1. List of camera-based BEV sensing methods"],"readme":"# Translating Images into Maps\n#### Avishkar Saha, Oscar Mendez Maldonado, Chris Russell and Richard Bowden\n\nThis is the official code for the paper [Translating Images Into Maps](https://arxiv.org/abs/2110.00966) presented at ICRA 2022.\n\n### Translating Images into Maps\n\u003cdiv\u003e\n\u003cimg src=\"images/image_to_bev_motivation.gif\"\u003e\u003c/img\u003e\n\u003c/div\u003e\n\u003cbr /\u003e\n\n### Setup\nThe code was written using python 3.7. \nThe following libraries are the minimal required for this repo: \n```python\npytorch\ncv2\nnumpy\npickle\npyquaternion\nshapely\nlmdb\n```\n\n### Data\nThe official nuScenes data will be required to train the entire model. \nBut for convenience, we provide the nuScenes mini dataset wrapped into \nlmdb's, they can be downladed from either of the links below:\n```\nhttps://www.icloud.com/iclouddrive/0aaSjW59DEqgUDKyy1uw0iSVg#nuscenes%5Fdata\n\nhttps://drive.google.com/drive/folders/1-1dZXeHnPiuqX-w8ruJHqfxBuMYMONRT?usp=share_link\n```\n\nThe contents of this folder need to be unzipped and placed in a folder, create the folder\nas follows:\n```\ncd translating-images-into-maps\nmkdir nuscenes_data\n```\n\nThis contains the ground truth maps which have already been generated for\nthe mini dataset, the input images and intrinsics.\n\n### Using the code:\nTo train a model with the configuration in the paper, simply run:\n```bash\npython train.py  \n```\n\n### Pretrained model\nPretrained models and their configs required to load/train them can be downloaded from here (updated with correct models 09-09-2024):\n````\nhttps://www.icloud.com/iclouddrive/041FdACyj8m0pM4L383luzZJg#tiim_checkpoints\n````\n\n\n### Citation\nIf you find this code useful, please cite the following papers:\n```\n@inproceedings{saha2022translating,\n  title={Translating Images into Maps},\n  author={Saha, Avishkar and Mendez, Oscar and Russell, Chris and Bowden, Richard},\n  booktitle={2022 IEEE International Conference on Robotics and Automation (ICRA)},\n  year={2022},\n  organization={IEEE}\n}\n@inproceedings{saha2021enabling,\n  title={Enabling spatio-temporal aggregation in birds-eye-view vehicle estimation},\n  author={Saha, Avishkar and Mendez, Oscar and Russell, Chris and Bowden, Richard},\n  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},\n  pages={5133--5139},\n  year={2021},\n  organization={IEEE}\n}\n@inproceedings{saha2022pedestrian,\n  title={\" The Pedestrian next to the Lamppost\" Adaptive Object Graphs for Better Instantaneous Mapping},\n  author={Saha, Avishkar and Mendez, Oscar and Russell, Chris and Bowden, Richard},\n  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},\n  pages={19528--19537},\n  year={2022}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Favishkarsaha%2Ftranslating-images-into-maps","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Favishkarsaha%2Ftranslating-images-into-maps","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Favishkarsaha%2Ftranslating-images-into-maps/lists"}