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lane_boundary_tracker's Introduction

lane_boundary_tracker

Batch scripts for preprocessing, processing (tracking), visualization and evaluation for lane boundary tracking algorithm.

To run the complete process, run

./scripts/runall --input [path to input data] --output [path to hold temporary files]

The configuration file conf.json is located at the repository root.

The runall scripts runs the following scripts:

Preprocessing:

./scripts/preprocess

This script:

  • Breaks drive-based (pose-centric) JSON files to smaller surface-based JSON files
  • Extracts detection points and tracking ground-truth CSV files from JSON files
  • Optional: applies detection noise and drop

(Lane boundary) Tracking:

./scripts/sort

This script:

  • Applied SORT tracking over detections and saves the results in CSV format

Evaluation:

./scripts/evaluate

This script:

  • Converts tracking and ground-truth CSV files to SLOTH formatted JSON files
  • Applies PYMOT evaluation (multi-object tracking metrics) on JSON files and prints the output

Visualization:

./scripts/visualize

This script:

  • Displays the tracking CSV output of tracking algorithm (e.g. SORT)

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