├── .gitignore ├── LICENSE ├── LO-Net.ipynb ├── README.md └── assets ├── network.png ├── normal_estim_o3d.png └── normal_estim_paper.png /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled source # 2 | ################### 3 | *.com 4 | *.class 5 | *.dll 6 | *.exe 7 | *.o 8 | *.so 9 | 10 | # Byte-compiled / optimized / DLL files 11 | __pycache__/ 12 | *.py[cod] 13 | *$py.class 14 | 15 | # Packages # 16 | ############ 17 | # it's better to unpack these files and commit the raw source 18 | # git has its own built in compression methods 19 | *.7z 20 | *.dmg 21 | *.gz 22 | *.iso 23 | *.jar 24 | *.rar 25 | *.tar 26 | *.zip 27 | 28 | # Logs and databases # 29 | ###################### 30 | *.log 31 | *.sql 32 | *.sqlite 33 | 34 | # Jupyter Notebook # 35 | #################### 36 | *.ipynb_checkpoints/ 37 | 38 | # Tensorboard # 39 | ############### 40 | *summary_LO_net/ 41 | *runs/ 42 | 43 | # Stored results # 44 | ################## 45 | *results/ 46 | 47 | # VSCode # 48 | ########## 49 | *.vscode 50 | 51 | # OS generated files # 52 | ###################### 53 | .DS_Store 54 | .DS_Store? 55 | ._* 56 | .Spotlight-V100 57 | .Trashes 58 | ehthumbs.db 59 | Thumbs.db 60 | 61 | # Environments # 62 | ################ 63 | .env 64 | .venv 65 | env/ 66 | venv/ 67 | ENV/ 68 | env.bak/ 69 | venv.bak/ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) {{2021}} {{Pawit Kochakarn}} 2 | 3 | Permission is hereby granted, free of charge, to any person obtaining a copy 4 | of this software and associated documentation files (the "Software"), to deal 5 | in the Software without restriction, including without limitation the rights 6 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 7 | copies of the Software, and to permit persons to whom the Software is 8 | furnished to do so, subject to the following conditions: 9 | 10 | The above copyright notice and this permission notice shall be included in all 11 | copies or substantial portions of the Software. 12 | 13 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 14 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 15 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 16 | IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 17 | DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR 18 | OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 19 | OR OTHER DEALINGS IN THE SOFTWARE. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # PyTorch LO-Net 2 | __Deep Real-time Lidar Odometry__ 3 | 4 | This is an unofficial notebook implementation of the LO-Net paper (https://arxiv.org/abs/1904.08242), a deep convolutional network pipeline for real-time lidar odometry estimation. 5 | 6 | ## Update: 7 | The project was started during an internship and is still unfinished with regards to training the network on sufficient data. Results are still very much sub-optimal :( 8 | 9 | ### Network overview 10 | 11 |

12 | 13 | ### Comparison of methods for Normal estimation 14 | 15 | | Paper | Open3d | 16 | |:--------------------------:|:--------------------------:| 17 | | ![0](assets/normal_estim_paper.png) | ![1](assets/normal_estim_o3d.png) | 18 | 19 | 20 | ### __Dependencies__ 21 | 22 | - pytorch (> v1.7) 23 | - tensorboard 24 | - scipy 25 | - open3d 26 | - tqdm (optional) 27 | 28 | ### __Dataset (KITTI)__ 29 | 30 | Instructions for downloading the dataset can be found at http://www.cvlibs.net/datasets/kitti/eval_odometry.php 31 | 32 | At the end, sequences should be extracted under a directory as follows: 33 | ``` 34 | KITTI 35 | | 36 | sequences| 37 | |-> 00 38 | |-> image0 ... 39 | |-> velodyne 40 | |-> calib.txt 41 | |-> times.txt 42 | . 43 | . 44 | . 45 | |-> 21 46 | . 47 | . 48 | . 49 | poses| 50 | |-> 00.txt 51 | . 52 | . 53 | |-> 10.txt 54 | ``` 55 | -------------------------------------------------------------------------------- /assets/network.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PawitKoch/LO-Net-pytorch/a934b21526e41aeeab8534bf26f036e100c9e0a3/assets/network.png -------------------------------------------------------------------------------- /assets/normal_estim_o3d.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PawitKoch/LO-Net-pytorch/a934b21526e41aeeab8534bf26f036e100c9e0a3/assets/normal_estim_o3d.png -------------------------------------------------------------------------------- /assets/normal_estim_paper.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PawitKoch/LO-Net-pytorch/a934b21526e41aeeab8534bf26f036e100c9e0a3/assets/normal_estim_paper.png --------------------------------------------------------------------------------