https://github.com/jingy1yu/ScalableMap

The official repository for ScalableMap (CoRL 2023)
https://github.com/jingy1yu/ScalableMap

Last synced: 2 months ago
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The official repository for ScalableMap (CoRL 2023)

• Host: GitHub
• URL: https://github.com/jingy1yu/ScalableMap
• Owner: jingy1yu
• Created: 2023-10-07T12:21:19.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-06-05T12:34:09.000Z (7 months ago)
• Last Synced: 2024-08-03T09:07:41.852Z (5 months ago)
• Language: Python
• Size: 3.44 MB
• Stars: 60
• Watchers: 14
• Forks: 2
• Open Issues: 3
• Metadata Files:
  • Readme: README.md

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• awesome-hd-map-construction - [code

README

        
# ScalableMap

The official repository for ScalableMap (CoRL 2023)

## Environment Preparation

```shell

conda create -n smap python=3.8 -y

conda activate smap

pip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 torchaudio==0.9.1 -f https://download.pytorch.org/whl/torch_stable.html

conda install -c omgarcia gcc-5

pip install mmcv-full==1.4.0 -f https://download.openmmlab.com/mmcv/dist/cu111/torch1.9.0/index.html

pip install mmdet==2.14.0

pip install mmsegmentation==0.14.1

pip install timm

cd ./mmdetection3d

python setup.py develop

cd ..

pip install -r requirement.txt

```

## Data Preparation

### Nuscenes

```

# download 'can_bus.zip'

unzip can_bus.zip 

# move can_bus to data dir

```

```

python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0 --canbus ./data

```

**Folder structure**

```

ScalableMap

├── mmdetection3d/

├── projects/

├── tools/

├── ckpts/

├── data/

│   ├── can_bus/

│   ├── nuscenes/

│   │   ├── maps/

│   │   ├── samples/

│   │   ├── sweeps/

│   │   ├── v1.0-test/

|   |   ├── v1.0-trainval/

|   |   ├── nuscenes_infos_temporal_train.pkl

|   |   ├── nuscenes_infos_temporal_val.pkl

```

### 2.Eval/FPS Test/Train/Visualization

#### Eval

Evaluate ScalableMap with 8 GPUs

```

./tools/dist_test_map.sh ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py ./ckpts/epoch_110.pth 1

```

#### FPS test

```

./tools/maptr/benchmark.py ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py --checkpoint ./ckpts/epoch_110.pth

```

#### Train

Train ScalableMap with 8 GPUs

```

./tools/dist_train.sh ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py 8

```

#### Visualization

```

./tools/scalablemap/gt_pred_comparison.py ./projects/configs/scalablemap/scalablemap_r50_110e_l60.py 8

```

## Acknowledgements

ScalableMap is based on mmdetection3d. It's also inspired by the following outstanding contributions to the open-source community: BEVFormer, HDMapNet, VectorMapNet, MapTR.

## Citation

If our code or models help your work, , please consider citing the following bibtex:

```

@inproceedings{yu2023scalablemap,

  title={ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Construction},

  author={Yu, Jingyi and Zhang, Zizhao and Xia, Shengfu and Sang, Jizhang},

  booktitle={Conference on Robot Learning},

  pages={2429--2443},

  year={2023},

  organization={PMLR}

}

```