Camera-LIDAR Bimodal Lane Detection, Recognition and Tracking

This code is based on the paper by Binbin Li, Dezhen Song, Haifeng Li, Adam Pike, and Paul Carlson, "Lane Marking Quality Assessment for Autonomous Driving", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 1-5, 2018.

It has been tested on Ubuntu 16.04LTS and should work on 16.04 or newer versions.

Dependencies

Below is a list of all dependencies required, and links to relevant information such as downloads. There are also instructions for installing the required packages on a Ubuntu system, specifically, but which should also work on most Debian-based systems.

• Install prerequisites/dependencies

  sudo apt-get install libleveldb-dev libsnappy-dev libhdf5-serial-dev protobuf-compiler
  sudo apt-get install --no-install-recommends libboost-all-dev
  sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev
  sudo apt-get install libatlas-base-dev  libopenblas-dev
  sudo apt-get install libpcap-dev
  

• OpenCV 2.4.x: http://opencv.org

  sudo apt-get install libopencv-dev
  

  On Ubuntu-based systems, OpenCV should be installed manually from source.

• Matio, an open-source C library for reading and writing binary MATLAB MAT files.

  git clone git://git.code.sf.net/p/matio/matio
  cd matio
  git submodule update --initVPs  # for datasets used in unit tests
  ./autogen.sh
  ./configure
  make
  make check
  make install
  

• Pugixml, a C++ XML processing library

  git clone git: https://github.com/zeux/pugixml.git
  

• ALGLIB, a cross-platform numerical analysis and data processing library (http://www.alglib.net/).

• GNU Scientific Library, a software library for numerical computations in applied mathematics and science

  sudo apt-get install libgsl-dev
  

  It is recommended to build from source (https://www.gnu.org/software/gsl/).

• Eigen3: http://eigen.tuxfamily.org/

  sudo apt-get install libeigen3-dev
  

• Download protobuf-cpp-3.5.1.zip (https://github.com/google/protobuf/releases/download/v3.5.1/protobuf-cpp-3.5.1.zip) and unzip it.

  cd $PROTOBUF_ROOT  
  ./configure  
  make  
  make check
  sudo make install
  sudo ldconfig  #refresh shared library cache.
  

• ICNet, real-time semantic segmentation on high-resolution images (https://hszhao.github.io/projects/icnet/).

  git clone --recursive https://github.com/hszhao/ICNet.git
  cd $ICNET_ROOT/PSPNet
  cp Makefile.config.example Makefile.config
  vim Makefile.config #change the configuration file for Caffee if needed
  make all
  make test
  make runtest 
  

Build Instruction

This project uses CMake (http://www.cmake.org), a cross-platform build system.

• mkdir build
• cd build
• cmake ..
• make

To run the code

1. Under the ${laneAssess_root}, run command ./lanevaluate Parameters.xml, where Parameters.xml is the configuration file.
2. Change the setting in Parameters.xml to visualize the result.

Contact

1. Binbin Li binbinli@tamu.edu
2. Aaron Kingery aaronmkingery@tamu.edu
3. Aaron Angert adangert@tamu.edu
4. Ankit Ramchandani ankit61@tamu.edu
5. Dezhen Song dzsong@cse.tamu.edu