├── .gitignore ├── README.md ├── algorithm ├── data │ ├── cityscapes │ │ ├── labels.py │ │ └── munich_000019_000019_leftImg8bit.png │ ├── coco │ │ └── bus.jpg │ └── simulator │ │ ├── train │ │ ├── .gitkeep │ │ └── Dataset22 │ │ │ ├── LaserScan1.txt │ │ │ ├── LaserScan2.txt │ │ │ ├── LaserScan3.txt │ │ │ └── VehicleData.txt │ │ └── val │ │ └── .gitkeep ├── data_preparation │ ├── customnet_data.py │ ├── resnet_data.py │ └── yolov5_data.py ├── networks │ ├── customnet.py │ ├── resnet.py │ ├── yolov5.py │ ├── yolov5_sg.py │ └── yolov8.py ├── test │ ├── yolov5_sg_test.py │ ├── yolov5_test.py │ └── yolov8_test.py ├── train │ ├── customnet_train.py │ └── resnet_train.py └── weights │ ├── resnet │ └── .gitkeep │ ├── yolov5 │ └── .gitkeep │ ├── yolov5_sg │ └── .gitkeep │ └── yolov8 │ └── .gitkeep ├── drive.py ├── figures ├── Sim2.jpg ├── framework.png ├── lable.png ├── light.png ├── logo_f.png ├── segmentation.png ├── sim1.png ├── structure.png ├── urban.png ├── urban2.png └── weather.png ├── 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