Retraining YOLOPv2 with CARLA images (April week 2 - week 5)

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Expected goals:

Improving perception for Town01 and Town02 (May week 1)

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Improving perception to work with curves in Town01 and Town02 and refining maps to avoid intersections

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Improving YOLOPv2 perception by training on synthetic images from the CARLA simulator

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Enhancements to perception using lines and refinement of sections 1 and 2 of the paper

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perception improvements with lines and paper sections 1 and 2 refinement