https://github.com/d4l3k/torchdrive

torch models and primitives for birdseye view and voxel models for self driving tasks.
https://github.com/d4l3k/torchdrive

pytorch self-driving

Last synced: 3 days ago
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torch models and primitives for birdseye view and voxel models for self driving tasks.

• Host: GitHub
• URL: https://github.com/d4l3k/torchdrive
• Owner: d4l3k
• License: bsd-3-clause
• Created: 2023-01-25T23:25:30.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2024-08-22T04:07:29.000Z (3 months ago)
• Last Synced: 2024-10-31T00:02:17.642Z (17 days ago)
• Topics: pytorch, self-driving
• Language: Jupyter Notebook
• Homepage: https://fn.lc/post/3d-detr/
• Size: 42.6 MB
• Stars: 81
• Watchers: 6
• Forks: 7
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# ![torchdrive](media/torchdrive.svg)

A PyTorch library for training BEV style perception models for self driving

tasks. This is unaffiliated with the PyTorch project. This currently includes

helpful primitives needed to put together a model.

## Install from Source

```

$ pip install git+https://github.com/d4l3k/torchdrive.git

```

or

```

$ git clone --recursive https://github.com/d4l3k/torchdrive.git

$ cd torchdrive

$ pip install -e .

```

## Background

I've been documenting the process for this code. Please see my blog at

https://fn.lc/post/3d-detr/ for more details.

### 3D Object Detection

3D bounding boxes and velocities for dynamic objects such as cars.

![](media/det.png)

### Voxel Occupancy

Grids of occupancy around the vehicle trained with differential rendering.

![](media/voxel-highway-cars.png)

### BEV Lane Lines and Drivable Space

Lane line and drivable space trained purely from image space labels.

![](media/mesh-semantic.png)

### Semantic Voxel

Per voxel semantic labels for static objects.

![](media/voxel-semantic.png)

## Data Access

The training dataset for this repo has been collected from my car and thus has

lots of personally identifying information so I'm not willing to make it public

at this time. If you're interested in contributing or collaborating feel free to

reach out. I'm happy to test changes on my own hardware and there may be other

options too.

## Contact

If you have any questions or concerns, please reach out to me either by filing

an issue or emailing me at [[email protected]](mailto:[email protected]).

## License

This project is a hobby project and done in my free time. This is non-commercial

and no profit has been made from this work.

See the [LICENSE](LICENSE) file for more information. Some files and functions

have different licenses and are marked accordingly.