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https://github.com/deniztemur00/tracking-vehicles-over-time
I aimed to track vehicles over time by fusing measurements from LiDAR and camera.
https://github.com/deniztemur00/tracking-vehicles-over-time
Last synced: 3 days ago
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I aimed to track vehicles over time by fusing measurements from LiDAR and camera.
- Host: GitHub
- URL: https://github.com/deniztemur00/tracking-vehicles-over-time
- Owner: deniztemur00
- License: mit
- Created: 2023-09-05T19:16:56.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-09-07T11:07:33.000Z (over 1 year ago)
- Last Synced: 2024-08-27T15:55:26.771Z (6 months ago)
- Language: Python
- Size: 2.95 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
Awesome Lists containing this project
README
Tracking Vehicles Over Time
This project is aimed to track vehicles over time by fusing measurements from LiDAR and a camera.
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Table of Contents
## About The Project
In this project, I employed techniques to detect objects in 3D point clouds and then used an `Extended Kalman Filter` for sensor fusion and tracking. The extended Kalman filter (EKF) is an algorithm that allows us to estimate the state of a system and track it over time using noisy measurements. By combining the strengths of both `LiDAR` and camera sensors, we were able to improve the overall accuracy and robustness of the tracking system.
### Built With
* [![Python][Python]][Python-url]
* [![PyTorch][Pytorch]][Pytorch-url]
* [![numpy][Numpy]][Numpy-url]
* [![Matplotlib][Matplotlib]][Matplotlib-url]
## Getting Started
Clone the repository on your local machine and run the `loop_over_dataset.py`. Additional configurations are provided in the `loop_over_dataset.py`.
### Prerequisites
I have provided the `requirements.txt`. I highly recommend you to create a virtual environment before installing the prerequsite libraries.
### Installation
* create a virtual environment
```sh
py -m venv env
* installing all requirements at the same time
```sh
py -m pip install -r requirements.txt
```
## Usage
You can try different deep learning models to evaluate the accuracy of the tracking system.(The model needs to be trained on open-source waymo dataset that can be found [here](https://waymo.com/open/download/))
And most importantly you can use it to show the effects of different filters with adjusted hyper-parameters.
## License
Distributed under the MIT License. See `LICENSE.txt` for more information.
## Contact
* Deniz Temur - [email protected]
* [![LinkedIn][linkedin-shield]][linkedin-url]
## Acknowledgements
* (C) 2020, Dr. Antje Muntzinger / Dr. Andreas Haja
[contributors-shield]: https://img.shields.io/github/contributors/github_username/repo_name.svg?style=for-the-badge
[contributors-url]: https://github.com/Schiweppes/Tracking-Vehicles-Over-Time/graphs/contributors
[forks-shield]: https://img.shields.io/github/forks/github_username/repo_name.svg?style=for-the-badge
[forks-url]: https://github.com/Schiweppes/Tracking-Vehicles-Over-Time/forks
[stars-shield]: https://img.shields.io/github/stars/github_username/repo_name.svg?style=for-the-badge
[stars-url]: https://github.com/Schiweppes/Tracking-Vehicles-Over-Time/stargazers
[issues-shield]: https://img.shields.io/github/issues/github_username/repo_name.svg?style=for-the-badge
[issues-url]: https://github.com/Schiweppes/Tracking-Vehicles-Over-Time/issues
[license-shield]: https://img.shields.io/github/license/github_username/repo_name.svg?style=for-the-badge
[license-url]: https://github.com/Schiweppes/Tracking-Vehicles-Over-Time/blob/main/LICENSE.txt
[linkedin-shield]: https://img.shields.io/badge/-LinkedIn-black.svg?style=for-the-badge&logo=linkedin&colorB=555
[linkedin-url]: https://www.linkedin.com/in/deniz-temur-727dt/
[Python]: https://img.shields.io/badge/python-3670A0?style=for-the-badge&logo=python&logoColor=ffdd54
[Python-url]: https://www.python.org/
[Pytorch]: https://img.shields.io/badge/PyTorch-%23EE4C2C.svg?style=for-the-badge&logo=PyTorch&logoColor=white
[Pytorch-url]: https://pytorch.org/
[Matplotlib]: https://img.shields.io/badge/Matplotlib-%23ffffff.svg?style=for-the-badge&logo=Matplotlib&logoColor=black
[Matplotlib-url]: https://matplotlib.org/
[Numpy]: https://img.shields.io/badge/numpy-%23013243.svg?style=for-the-badge&logo=numpy&logoColor=white
[Numpy-url]: https://numpy.org/