├── KITTI-poses ├── 10 │ └── poses.txt ├── 11 │ └── poses.txt ├── 12 │ └── poses.txt ├── 13 │ └── poses.txt ├── 14 │ └── poses.txt ├── 15 │ └── poses.txt ├── 16 │ └── poses.txt ├── 17 │ └── poses.txt ├── 18 │ └── poses.txt ├── 19 │ └── poses.txt ├── 20 │ └── poses.txt ├── 21 │ └── poses.txt ├── 30 │ └── poses.txt ├── 31 │ └── poses.txt ├── 32 │ └── poses.txt ├── 33 │ └── poses.txt ├── 34 │ └── poses.txt ├── 35 │ └── poses.txt ├── 36 │ └── poses.txt ├── 37 │ └── poses.txt ├── 38 │ └── poses.txt ├── 39 │ └── poses.txt ├── 40 │ └── poses.txt ├── 41 │ └── poses.txt ├── 00 │ └── poses.txt ├── 01 │ └── poses.txt ├── 02 │ └── poses.txt ├── 03 │ └── poses.txt ├── 04 │ └── poses.txt ├── 05 │ └── poses.txt ├── 06 │ └── poses.txt ├── 07 │ └── poses.txt ├── 08 │ └── poses.txt └── 09 │ └── poses.txt ├── LICENSE ├── README.md ├── config ├── MotionBEV-livox.yaml ├── MotionBEV-semantickitti.yaml ├── __init__.py ├── config.py ├── livox-SEU-MOS.yaml ├── semantic-kitti-MOS-road.yaml ├── semantic-kitti-MOS.yaml └── train_split_dynamic_pointnumber.txt ├── dataloader ├── __init__.py └── dataset.py ├── imgs ├── Overview.png ├── kitti08.gif └── livox06.gif ├── infer_SemanticKITTI.py ├── infer_livox.py ├── network ├── A_BEV_Unet.py ├── CA_BEV_Unet.py ├── __init__.py ├── basic_blocks.py └── ptBEVnet.py ├── pretrain ├── MotionBEV-kitti-road-test-74.88.pt ├── MotionBEV-kitti-val-76.54.pt └── MotionBEV-livox-val-89.22.pt ├── train_SemanticKITTI.py ├── train_livox.py └── utils ├── auxiliary ├── SSCDataset.py ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-37.pyc │ └── np_ioueval.cpython-37.pyc ├── camera.py ├── eval_np.py ├── filelist2files.py ├── glow.py ├── laserscan.py ├── laserscanvis.py ├── np_ioueval.py ├── shaders │ ├── check_uniforms.vert │ ├── draw_pose.geom │ ├── draw_voxels.frag │ ├── draw_voxels.vert │ ├── empty.frag │ ├── empty.vert │ └── passthrough.frag └── torch_ioueval.py ├── combine_semantics.py ├── evaluate_mos.py ├── generate_residual ├── config │ ├── data_preparing_livox_sequential.yaml │ ├── data_preparing_polar_sequential.yaml │ ├── data_preparing_range.yaml │ └── labels │ │ ├── semantic-kitti-mos.raw.yaml │ │ └── semantic-kitti-mos.yaml └── utils │ ├── __pycache__ │ ├── kitti_utils.cpython-37.pyc │ ├── kitti_utils.get_occlusion_mask-248.py37m.1.nbc │ └── kitti_utils.get_occlusion_mask-248.py37m.nbi │ ├── auto_gen_livox_sequential_residual_images.py │ ├── auto_gen_polar_sequential_residual_images.py │ ├── auto_gen_range_residual_images.py │ └── kitti_utils.py ├── kitti_utils.py ├── log_util.py ├── lovasz_losses.py ├── viewpoint ├── viewpoint_kitti.json └── viewpoint_livox.json ├── visualize_mos.py └── warmupLR.py /KITTI-poses/00/poses.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xieKKKi/MotionBEV/HEAD/KITTI-poses/00/poses.txt -------------------------------------------------------------------------------- /KITTI-poses/01/poses.txt: 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