Road Segmentation Module

• Module for extracting drivable paths and road lines in CARLA simulator (version: 0.8.4)

Installation

For accelerated neural network training using dedicated GPU cards follow this link.

Install virtual environment

pip install virtualenv
virtualenv venv

Install required packages

source venv/bin/activate
pip install -r requirements.txt
pip install git+https://www.github.com/keras-team/keras-contrib.git

Data

You can download CARLA simulator from this link and use it's client_example.py module to collect data.

Configuration

This module supports configuration through json file format. In the root folder you can find config.json.example file. Rename it to config.json and set missing values.

Training

To train the model run

python train.py

Evaluation

To evaluate the model run

python evaluate.py

Metrics used for evaluation of this model are: mean IoU and categorical accuracy.