ASY-VRNet: Waterway Panoptic Driving Perception Model based on Asymmetric Fair Fusion of Vision and 4D mmWave Radar

Device:

Camera: Sony IMX-317

Radar: Ocuii Imaging Radar

Implementation:

• Create a conda environment and install dependencies

git clone https://github.com/GuanRunwei/Efficient-VRNet.git
cd Efficient-VRNet
conda create -n efficientvrnet python=3.7
conda activate efficientvrnet
pip install -r requirements.txt

• Prepare datasets for object detection and semantic segmentation based on image and radar

For object detection, make two files, one for training and another for test. There are two ways to complete this. \

1. Make two txt files, one for training and another for test. Two files are with the same format: In one line, there are two parts, an image path and objects:
   image path: E:/Big_Datasets/water_surface/all-1114/all/VOCdevkit/VOC2007/JPEGImages/1664091257.87023.jpg
   object 1 (the first four numbers are the bounding box and the last is the category): 1131,430,1152,473,0
   object 2: 920,425,937,451,0
   Therefore, each line is like this: E:/Big_Datasets/water_surface/all-1114/all/VOCdevkit/VOC2007/JPEGImages/1664091257.87023.jpg 1131,430,1152,473,0 920,425,937,451,0
2. Organize the files in VOC format in one folder like this:
   VOCdevkit
   -VOC2007
   -- Annotations -> xml annotations in VOC format (you need to put annotations in it)
   -- ImageSets -> id (you do not need to do)
   -- JPEGImages -> images (you need to put images in it)
   enter voc_annotation.py and follow the annotation to make your dataset

For semantic segmentation, make the folders in VOC format.
VOCdevkit
-VOC2007
-- ImageSets -> id (you do not need to do)
-- JPEGImages -> images (you need to put images in it)
-- SegmentationClass -> images_seg (you need to put images in it)

For radar files, you need to make the radar map with the spatial size of images for object detection. We need four features: range, velocity, elevation and power, so firstly project 3D point clouds into 2D image plane, then make a numpy matrix with 4×512×512, each channel means one feature. Then, save the numpy matrix in npz format.

Attention: The names of images for object detection,segmentation, and radar must be the same! The only difference between them is the format.

• Train

After you have completed the above, enter the train.py. Change the file path variables and hyperparameters and run it.

• Visualization

predict.py is to test the object detection
yolo.py is to define the model for object detection \

predict_seg.py is to test the semantic segmentation
deeplab.py is to define the model for semantic segmentation \

enter these files see the details by annotations in the files

If have any questions, put them in Issues ---