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Freespace Optical Flow Modeling

Official implementation of "Freespace Optical Flow Modeling for Automated Driving" (T-MECH 23')

Yi Feng, Ruge Zhang, Jiayuan Du, Qijun Chen, and Rui Fan

| Webpage | Full Paper | datasets

Environment setup

Install environment using conda:

conda create -n fsof python=3.8
conda activate fsof

Install the required packages:

pip install -r requirements.txt

Data preparation

CARLA

We created this dataset using the Open-source simulator CARLA for validation of the proposed Velocity-Based Optical Flow Model.

KITTI

We use the KITTI Scene Flow dataset for validation of the proposed Displacement-Based Optical Flow Model. It's worth noting that:

  1. The original dataset does not provide semantic labels, so we manually labeled some of the images.
  2. The optical flow ground truth is sparse.

VKITTI2

We use the Virtual KITTI 2 dataset for validation of the proposed Displacement-Based Optical Flow Model. It's worth noting that:

  1. This dataset provides ground truth of camera poses, allowing us to verify the model's ability in precise localization when optical flow map is given.
  2. The optical flow ground truth is dense.

The datasets can be downloaded from: Baidu Disk | Google Drive. You can also download them from the official websites.

Put the datasets into the ./data directory, and organize them as follows:

CARLA
 |-- t10_s0_r-5
 |  |-- optical_flow
 |  |-- rgb
 |  |-- semantic
 |  |-- poses.txt
 |-- t10_s0_r-10
 |  |-- ...
 |-- ...
 KITTI
 |-- flow_noc
 |-- image_2
 |-- semantic
 VKITTI2
 |-- vkitti_2.0.3_classSegmentation
 |-- vkitti_2.0.3_forwardFlow
 |-- vkitti_2.0.3_rgb
 |-- vkitti_2.0.3_textgt

Run the Code

We provide three python scripts for model validation and evaluation on different datasets. It is recommended to run them in your Python Console instead of the Terminal for the sake of visualization.

CARLA Experiment

python carla.py --theta_real -10 --pic_num 70

KITTI Experiment

python kitti.py --pic_num 72

VKITTI2 Experiment

python vkitti2.py --scene 1 --pic_num 4

You can change the parameters to validate the model on other pictures or scenes.

Citation

If you find our work useful for your research, please consider citing the paper:

@article{feng2023freespace,
  title={Freespace Optical Flow Modeling for Automated Driving},
  author={Feng, Yi and Zhang, Ruge and Du, Jiayuan and Chen, Qijun and Fan, Rui},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2023},
  publisher={IEEE}
}