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Description:
lanelet2anchors 0.1.0
lanelet2anchors
This package enables the generation of diverse map-based anchor paths for a given lanelet or vehicle pose. It was developed as part of our paper Lanelet2 for nuScenes: Enabling Spatial Semantic Relationships and Diverse Map-based Anchor Paths. For details check our project page.
Installation
Use Python >= 3.8 and pip to install
pip install lanelet2anchors
Usage
Check the notebooks in the documentation for details and examples.
Generate anchors for given vehicle
from lanelet2anchors import AnchorGenerator
lanelet_map = AnchorGenerator(
osm_file=osm_file, origin_latitude=49.00345654351, origin_longitude=8.42427590707
)
anchors = lanelet_map.create_anchors_for_vehicle(
vehicle_pose=X,
anchor_length=100,
num_anchors: 5,
)
Generate anchors for a given Lanelet
from lanelet2anchors import AnchorGenerator
lanelet_map = AnchorGenerator(
osm_file=osm_file, origin_latitude=49.00345654351, origin_longitude=8.42427590707
)
anchors = lanelet_map.create_anchors_for_lanelet(
lanelet_id=lanelet_map.lanelet_ids[0], anchor_length=100
)
Citation
If you use this code for scientific research, please consider citing
@InProceedings{naumannHertleinLanelet2NuScenes,
author = {Naumann, Alexander and Hertlein, Felix and Grimm, Daniel and Zipfl, Maximilian and Thoma, Steffen and Rettinger, Achim and Halilaj, Lavdim and Luettin, Juergen and Schmid, Stefan and Caesar, Holger},
title = {Lanelet2 for nuScenes: Enabling Spatial Semantic Relationships and Diverse Map-Based Anchor Paths},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
month = {June},
year = {2023},
pages = {3247-3256}
}
License
This project is licensed under CC-BY-NC-SA. Development by FZI Forschungszentrum Informatik and all rights reserved by Robert Bosch GmbH.
License
For personal and professional use. You cannot resell or redistribute these repositories in their original state.
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