Evaluating LiDAR semantic segmentation with DetectionMetrics
As part of our journey towards an effective on board perception for autonomous driving in unstructured environments, a comprehensive analysis of the state-of...
David Pascual-Hernández
PhD Student and Researcher @ URJC
Computer Vision
Artificial Intelligence
Autonomous Driving
Posts by Year
2024
Fine-tuning RandLA-Net with Rellis3D
Last week, we created a toy example that fine-tuned RandLa-Net with the validation scene from the SemanticKitti dataset using Open3D-ML. You can explore resu...
Intro to LiDAR semantic segmentation
LiDAR plays a crucial role in autonomous driving by providing detailed 3D maps of surroundings through laser-based distance measurements. It enhances scene u...
CARLA’s semantic LiDAR
In addition to CARLA’s standard LiDAR sensor, a version that provides semantic information for each point is available. This sensor’s frame classes match tho...
DetectionMetrics v2
Our current project requires a tool to efficiently evaluate image and LiDAR segmentation models, one that’s compatible with the most common datasets and deep...
Training semantic segmentation with simulated data
Simulated dataset
Minimal simulated semantic segmentation dataset
In the previous post, we built a landscape as a static mesh and followed the CARLA tutorial to create a working version of custom semantic segmentation in ou...
Custom semantic segmentation camera in CARLA
Following the detailed tutorial on Create semantic tags - CARLA Simulator, we’ve successfully added new custom tags to CARLA’s semantic segmentation camera. ...
ROS node for semantic segmentation
ROS node for semantic segmentation To enhance interoperability between our unstructured map and the CARLA simulator, we’ve developed a Python-based ROS node ...
ROS bridge and unstructured map
Now that the ROS bridge has been succesfully installed, it’s time to test it in the unstructured map simulation. However, our custom map lacks a valid road d...
ROS bridge installation
The official documentation only supports ROS 2 Foxy. However, forks of the ros-bridge repository are available that support the latest CARLA version (0.9.15)...
CARLA tutorials and unstructured map
Interesting tutorials:
CARLA installation
This document serves as supplementary material for installing CARLA from source. While not a step-by-step guide, it details my personal experience during the...