Evidential Occupancy

Official implementation for "Accurate Training Data for Occupancy Map Prediction in Automated Driving Using Evidence Theory" (CVPR 2024, arXiv).

Installation

We use Pixi to manage the dependencies. To install the dependencies, run the following command:

pixi install

This will create the Python environment with all necessary dependencies.. To run a shell with the activated environment run pixi shell or to start a single task, use pixi run python ....

Data preparation

To use the default configuration, sturcture the data as follows:

./data/
├── nuscenes/  # (original nuScenes dataset goes here (required))
│   ├── samples/
│   ├── scenes/
│   ├── sweeps/
│   └── ...
└── nuscenes_extra/  # (additional data)
    ├── nuscenes_occ3d/  # (Occ3D (optional))
    │   └── gts/
    │       ├── scene-*
    │       └── ...
    ├── nuScenes-Occupancy-v0.1/  # (OpenOccupancy (optional))
    │   ├── scene_*
    │   └── ...
    ├── occ_gt_release_v1_0/  # (Scene as Occupancy (optional))
    │   └── trainval/
    │       ├── scene-*
    │       └── ...
    └── surround_occ_occupancy/  # (SurroundOcc (optional))
        └── samples/
            └── ...

Data Processing

We use the YAML file ./conf/default.yaml to configure the processing steps. For testing purposes, the nuScenes mini dataset is selected by default. To use the entire nuScenes dataset, set version to v1.0-train, v1.0-val or v1.0-trainval (entire dataset) and set the appropriate split (train,val or trainval).

The data processing requires multiple steps. The necessary task are defined in the pixi.toml. You can run the entire pipeline with the following command:

pixi run data-processing

This will create the following file structure:

./data/
└── nuscenes_extra/
   ├── reflection_and_transmission_spherical/
   │   ├── scene-*
   │   └── ...
   ├── scene_flow/
   │   ├── scene-*
   │   └── ...
   ├── sample_annotation_cache/
   │   └── ...
   └── reflection_and_transmission_multi_frame/
       ├── scene-*
       └── ...

OR

run the following commands step by step:

Relfections and Transmissions

Run the following command to calculate the reflections and transmissions:

pixi run transmissions-reflections

Scene Flow

Run the following command to calculate the scene flow information:

pixi run scene-flow

Temporal Accumulation

Run the following command to generate the accumulated reflections and transmissions:

pixi run temporal-accumulation

Evaluation

The different occupancy methods can be evaluated separately using the following commands:

pixi run eval-bba
pixi run eval-bba04
pixi run eval-occ3d
pixi run eval-open-occupancy
pixi run eval-scene-as-occupancy
pixi run eval-surround-occ

Note: This requires the corresponding data to be processed / setup up properly.

To evaluate all methods at once run:

pixi run eval-all

The results are stored in the ./workdir directory.