Road Profile Estimation

This README file gives only a short introduction into the full road profile estimation prototype of the corresponding research project.

Prototype System Architecture:

The conceptual system should consist of 3 modules:

DVSO => MonoRec => Post Processing

The implemented prototype consists of 2 modules, compensating for DVSO by using information from the dataset:

MonoRec => Post Processing

This repository only contains the Post Processing part. For evaluation and testing, the KITTI odometry dataset is used.

DVSO:

• Paper: https://arxiv.org/abs/1807.02570
• Unofficial GitHub Repository: https://github.com/SenZHANG-GitHub/DVSO

MonoRec:

• Paper: https://arxiv.org/abs/2011.11814
• Official GitHub Repository: https://github.com/Brummi/MonoRec

KITTI Odometry Dataset:

• Paper: https://ieeexplore.ieee.org/document/6248074
• Website/Download: https://www.cvlibs.net/datasets/kitti/eval_odometry.php

Installation

The full installation manual and user manual can be found in the corresponding thesis.

Configuration

To configure the algorithms output, use the config.gin file located under the configs folder.

To switch between regular or evaluation mode, manually set the FLAG (global variable) in line 12 of the main.py to true or false.

Test

Added test files (test/MonoRec/saved/pointclouds/monorec/seequence_05_60-120_256.ply and test/MonoRec/data/dataset/poses_dvso/05.txt) for testing usage without MonoRec. The MonoRec folder inside the testfolder should be placed next to this repository.