Implementation, source code, pre-trained models and scripts for our paper "Deep learning-based robust positioning for all-weather autonomous driving" published in Nature Machine Intelligence.
In this work, we propose deep learning-based GRAMME generalizable to diverse settings such as day, night, rain, fog, and snow. GRAMME is a geometry-Aware, multi-modal, modular, interpretable, and self-supervised ego-motion estimation system.
GRAMME involves the following architectures:
- Self-supervised monocular depth and ego-motion
- Self-supervised stereo depth and ego-motion
- Self-supervised lidar ego-motion
- Self-supervised radar ego-motion
- Self-supervised depth and ego-motion from camera and lidar
- Self-supervised depth and ego-motion from camera and radar
Overview of the GRAMME conceptual framework and architecture:
The experiments are conducted on an Ubuntu 20.04 LTS computer with Intel Xeon CPUs and NVIDIA RTX 3090 GPUs accelerated by CuDNN, using Python 3.8.
- Clone this repo:
git clone https://github.com/yasinalm/gramme
cd grammeWe recommend creating a virtual environment with Python 3.8 conda create -n gramme python=3.8 anaconda.
Using a fresh Anaconda distribution, you can install the dependencies with:
conda install pytorch=1.8.2 torchvision=0.9.1 cudatoolkit=10.2 -c pytorch
conda install -c conda-forge tensorboardx=2.4
pip install --user colour-demosaicing # needed to process datasetsYou can install the remaining dependencies as follow:
conda install --file requirements.txtGRAMME currently supports the following datasets and the sensors. To easily make use of our preprocessing codes, keep the directory structure the same as the original datasets. Please follow their licencing regulations for the datasets.
- Oxford Robotcar dataset
- Bumblebee XB3 stereo camera (main data source for the experiments in the paper)
- Grasshopper2 monocular camera
- SICK LD-MRS 3D LIDAR
- NovAtel SPAN-CPT ALIGN inertial and GPS navigation system
- Oxford Radar Robotcar dataset
- Bumblebee XB3
- Grasshopper2
- NovAtel SPAN-CPT ALIGN inertial and GPS navigation system
- Navtech CTS350-X radar
- Velodyne HDL-32E lidar
- RADIATE dataset.
- ZED stereo camera
- Velodyne HDL-32E lidar
- Navtech CTS350-X radar
- Advanced Navigation Spatial Dual GPS/IMU
To test our provided pre-trained models, you can download the small-size sample sequences.
In addition, you can quickly adopt GRAMME to custom datasets by extending the data loader classes located in the ./datasets/ folder.
Although GRAMME supports on-the-fly processing of the input files, we recommend offline processing of the input datasets using the provided scripts. The scripts will process the datasets and save the processed files to disk. The preprocessing includes colour-demosaicing of the Bayer images and rectification. We also optionally crop the bottom part of the Robotcar images occluded by the bonnet. You can use the following script for preprocessing:
For the Robotcar dataset:
cd preprocess/
python undistort_robotcar.py /path/to/robotcardataset/For the RADIATE dataset:
cd preprocess/
python rectify_radiate.py /path/to/radiatedataset/The scripts will create a sub-directory in the dataset folder named stereo_undistorted and save the processed files to the directory. You can notify the training and inference codes passing the pretrained flag. See the documentation of the codes for more details.
You can use the following commands to train and test the models.
After the download and the preprocessing, you can run the following commands. For ease of use, we created individual files to train/test the desired modalities.
Radar-based experiments To train a radar-based model including the camera, run the following command:
python train.py /path/to/dataset/ --dataset dataset_name --name experiment_nameThe code can be configured with the following arguments:
usage: train.py [-h] [--sequence-length N] [--skip-frames N] [-j N]
[--epochs N] [--train-size N] [--val-size N] [-b N] [--lr LR]
[--momentum M] [--beta M] [--weight-decay W] [--print-freq N]
[--ckpt-freq N] [--seed SEED] [--log-summary PATH]
[--log-full PATH] [--log-output LOG_OUTPUT]
[--resnet-layers {18,50}] [--num-scales W] [--img-height W]
[--img-width W] [-p W] [-f W] [-s W] [-c W]
[--with-ssim WITH_SSIM] [--with-mask WITH_MASK]
[--with-auto-mask WITH_AUTO_MASK] [--with-masknet]
[--masknet {convnet,resnet}] [--with-vo]
[--cam-mode {mono,stereo}] [--pretrained-disp PATH]
[--pretrained-vo-pose PATH] [--with-pretrain]
[--dataset {hand,robotcar,radiate,cadcd}]
[--with-preprocessed WITH_PREPROCESSED]
[--pretrained-mask PATH] [--pretrained-pose PATH]
[--pretrained-fusenet PATH] [--pretrained-optim PATH] --name
NAME [--padding-mode {zeros,border}] [--gt-file DIR]
[--radar-format {cartesian,polar}] [--range-res W]
[--angle-res W] [--cart-res W] [--cart-pixels W]
DIR
Unsupervised Geometry-Aware Ego-motion Estimation for radars and cameras.
positional arguments:
DIR path to dataset
optional arguments:
-h, --help show this help message and exit
--sequence-length N sequence length for training (default: 3)
--skip-frames N gap between frames (default: 1)
-j N, --workers N number of data loading workers (default: 4)
--epochs N number of total epochs to run (default: 200)
--train-size N manual epoch size (will match dataset size if not
set) (default: 0)
--val-size N manual validation size (will match dataset size if
not set) (default: 0)
-b N, --batch-size N mini-batch size (default: 4)
--lr LR, --learning-rate LR
initial learning rate (default: 0.0001)
--momentum M momentum for sgd, alpha parameter for adam (default:
0.9)
--beta M beta parameters for adam (default: 0.999)
--weight-decay W, --wd W
weight decay (default: 0)
--print-freq N print frequency (default: 10)
--ckpt-freq N checkpoint saving frequency in terms of epochs
(default: 1)
--seed SEED seed for random functions, and network initialization
(default: 0)
--log-summary PATH csv where to save per-epoch train and valid stats
(default: progress_log_summary.csv)
--log-full PATH csv where to save per-gradient descent train stats
(default: progress_log_full.csv)
--log-output LOG_OUTPUT
will log dispnet outputs at validation step (default:
1)
--resnet-layers {18,50}
number of ResNet layers for depth estimation.
(default: 18)
--num-scales W, --number-of-scales W
the number of scales (default: 1)
--img-height W resized mono image height (default: 192)
--img-width W resized mono image width (default: 320)
-p W, --photo-loss-weight W
weight for photometric loss (default: 1)
-f W, --fft-loss-weight W
weight for FFT loss (default: 0.0003)
-s W, --ssim-loss-weight W
weight for SSIM loss (default: 1)
-c W, --geometry-consistency-weight W
weight for depth consistency loss (default: 1.0)
--with-ssim WITH_SSIM
with ssim or not (default: 1)
--with-mask WITH_MASK
with the mask for moving objects and occlusions or
not (default: 1)
--with-auto-mask WITH_AUTO_MASK
with the mask for stationary points (default: 1)
--with-masknet with the masknet for multipath and noise (default:
False)
--masknet {convnet,resnet}
MaskNet type (default: convnet)
--with-vo with VO fusion (default: False)
--cam-mode {mono,stereo}
the dataset to train (default: stereo)
--pretrained-disp PATH
path to pre-trained DispResNet model (default: None)
--pretrained-vo-pose PATH
path to pre-trained VO Pose net model (default: None)
--with-pretrain with or without imagenet pretrain for resnet
(default: False)
--dataset {hand,robotcar,radiate,cadcd}
the dataset to train (default: hand)
--with-preprocessed WITH_PREPROCESSED
use the preprocessed undistorted images (default: 1)
--pretrained-mask PATH
path to pre-trained masknet model (default: None)
--pretrained-pose PATH
path to pre-trained Pose net model (default: None)
--pretrained-fusenet PATH
path to pre-trained PoseFusionNet model (default:
None)
--pretrained-optim PATH
path to pre-trained optimizer state (default: None)
--name NAME name of the experiment, checkpoints are stored in
checpoints/name (default: None)
--padding-mode {zeros,border}
padding mode for image warping (default: zeros)
--gt-file DIR path to ground truth validation file (default: None)
--radar-format {cartesian,polar}
Range-angle format (default: polar)
--range-res W Range resolution of FMCW radar in meters (default:
0.0432)
--angle-res W Angular azimuth resolution of FMCW radar in radians
(default: 0.015708)
--cart-res W Cartesian resolution of FMCW radar in meters/pixel
(default: 0.25)
--cart-pixels W Cartesian size in pixels (used for both height and
width) (default: 512)Lidar-based experiments To train a lidar-based model including the camera, run the following command:
python train_lidar.py /path/to/dataset/ --dataset dataset_name --name experiment_nameThe code can be configured with the following arguments:
usage: train_lidar.py [-h] [--sequence-length N] [--skip-frames N] [-j N]
[--epochs N] [--train-size N] [--val-size N] [-b N]
[--lr LR] [--momentum M] [--beta M] [--weight-decay W]
[--print-freq N] [--ckpt-freq N] [--seed SEED]
[--log-summary PATH] [--log-full PATH]
[--log-output LOG_OUTPUT] [--resnet-layers {18,50}]
[--num-scales W] [--img-height W] [--img-width W]
[-p W] [-f W] [-s W] [-c W] [--with-ssim WITH_SSIM]
[--with-mask WITH_MASK]
[--with-auto-mask WITH_AUTO_MASK] [--with-masknet]
[--masknet {convnet,resnet}] [--with-vo]
[--cam-mode {mono,stereo}] [--pretrained-disp PATH]
[--pretrained-vo-pose PATH] [--with-pretrain]
[--dataset {hand,robotcar,radiate}]
[--with-preprocessed WITH_PREPROCESSED]
[--pretrained-mask PATH] [--pretrained-pose PATH]
[--pretrained-fusenet PATH] [--pretrained-optim PATH]
--name NAME [--padding-mode {zeros,border}]
[--gt-file DIR] [--cart-res W] [--cart-pixels W]
DIR
Unsupervised Geometry-Aware Ego-motion Estimation for LIDARs and cameras.
positional arguments:
DIR path to dataset
optional arguments:
-h, --help show this help message and exit
--sequence-length N sequence length for training (default: 3)
--skip-frames N gap between frames (default: 1)
-j N, --workers N number of data loading workers (default: 4)
--epochs N number of total epochs to run (default: 200)
--train-size N manual epoch size (will match dataset size if not
set) (default: 0)
--val-size N manual validation size (will match dataset size if
not set) (default: 0)
-b N, --batch-size N mini-batch size (default: 4)
--lr LR, --learning-rate LR
initial learning rate (default: 0.0001)
--momentum M momentum for sgd, alpha parameter for adam (default:
0.9)
--beta M beta parameters for adam (default: 0.999)
--weight-decay W, --wd W
weight decay (default: 0)
--print-freq N print frequency (default: 10)
--ckpt-freq N checkpoint saving frequency in terms of epochs
(default: 1)
--seed SEED seed for random functions, and network initialization
(default: 0)
--log-summary PATH csv where to save per-epoch train and valid stats
(default: progress_log_summary.csv)
--log-full PATH csv where to save per-gradient descent train stats
(default: progress_log_full.csv)
--log-output LOG_OUTPUT
will log dispnet outputs at validation step (default:
1)
--resnet-layers {18,50}
number of ResNet layers for depth estimation.
(default: 18)
--num-scales W, --number-of-scales W
the number of scales (default: 1)
--img-height W resized mono image height (default: 192)
--img-width W resized mono image width (default: 320)
-p W, --photo-loss-weight W
weight for photometric loss (default: 1)
-f W, --fft-loss-weight W
weight for FFT loss (default: 0.0003)
-s W, --ssim-loss-weight W
weight for SSIM loss (default: 1)
-c W, --geometry-consistency-weight W
weight for depth consistency loss (default: 1.0)
--with-ssim WITH_SSIM
with ssim or not (default: 1)
--with-mask WITH_MASK
with the mask for moving objects and occlusions or
not (default: 1)
--with-auto-mask WITH_AUTO_MASK
with the mask for stationary points (default: 1)
--with-masknet with the masknet for multipath and noise (default:
False)
--masknet {convnet,resnet}
MaskNet type (default: convnet)
--with-vo with VO fusion (default: False)
--cam-mode {mono,stereo}
the dataset to train (default: stereo)
--pretrained-disp PATH
path to pre-trained DispResNet model (default: None)
--pretrained-vo-pose PATH
path to pre-trained VO Pose net model (default: None)
--with-pretrain with or without imagenet pretrain for resnet
(default: False)
--dataset {hand,robotcar,radiate}
the dataset to train (default: robotcar)
--with-preprocessed WITH_PREPROCESSED
use the preprocessed undistorted images (default: 1)
--pretrained-mask PATH
path to pre-trained masknet model (default: None)
--pretrained-pose PATH
path to pre-trained Pose net model (default: None)
--pretrained-fusenet PATH
path to pre-trained PoseFusionNet model (default:
None)
--pretrained-optim PATH
path to pre-trained optimizer state (default: None)
--name NAME name of the experiment, checkpoints are stored in
checpoints/name (default: None)
--padding-mode {zeros,border}
padding mode for image warping (default: zeros)
--gt-file DIR path to ground truth validation file (default: None)
--cart-res W Cartesian resolution of LIDAR in meters/pixel
(default: 0.25)
--cart-pixels W Cartesian size in pixels (used for both height and
width) (default: 512)Camera-based experiments To train a camera-based model, run the following command:
python train_stereo.py /path/to/dataset/ --dataset dataset_name --name experiment_name # for stereo camera
python train_mono.py /path/to/dataset/ --dataset dataset_name --name experiment_name # for monocular cameraThe details of the commands can be found using:
python train_stereo.py -h # for stereo camera
python train_mono.py -h # for monocular cameraWe provide pretrained GRAMME models for different datasets and modalities listed below. You can use the inference scripts explained above.
- Oxford Robotcar dataset
- Oxford Radar Robotcar dataset
- RADIATE dataset.
You can use the following command to generate the depth maps:
python test_disp.py /path/to/dataset/ --dataset dataset_name --pretrained-disp /path/to/pretrained_model --results-dir /path/to/save/resultsTo test the odometry predictions and generate trajectories:
python test_ro.py /path/to/dataset/ --dataset dataset_name --pretrained-disp /path/to/pretrained_model --results-dir /path/to/save/results # for lidar and radar odometry
python test_stereo.py /path/to/dataset/ --dataset dataset_name --pretrained-disp /path/to/pretrained_model --results-dir /path/to/save/results # for stereo odometry
python test_mono.py /path/to/dataset/ --dataset dataset_name --pretrained-disp /path/to/pretrained_model --results-dir /path/to/save/results # for monocular odometryThe code supports training on multiple GPUs by extending DataParallel class of PyTorch. We observed anomalies during the training with recently introduced Ampere GPU architecture related to floating-point precision. Therefore, we disable the auto-casting feature on NVIDIA RTX 3090 GPUs. You can specify the environment variable CUDA_VISIBLE_DEVICES to select the GPU:
CUDA_VISIBLE_DEVICES=2 python train.py ... # Use GPU#2
CUDA_VISIBLE_DEVICES=1,2 python train.py ... # Use GPU#1 and GPU#2If you find our work useful in your research or if you use parts of this code, please consider citing our paper:
Almalioglu, Y., Turan, M., Trigoni, N., and Markham, A. Deep learning-based robust positioning for all-weather autonomous driving. Nature Machine Intelligence (2022). https://doi.org/10.1038/s42256-022-00520-5
We thank the authors of the datasets used in the experiments for sharing the datasets and the SDKs.
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