Critical Scenario Generation Toolkit

IV 2020 "CSG: Critical Scenario Generation from Real Traffic Accidents"

Critical Scenario Generation Toolkit

Introduction

This repo offers the source code for Critical Scnenario Generation (CSG) toolkit. The toolkit aims to extract dynamic (trajectories) and static (road) elements from a given surveillance or dash camera video, and fromulated as OpenDrive and OpenScenario files as outputs.

How to build

1. Install system dependencies:

sudo apt-get install python3-tk

2. Install python3 package:

pip3 install Cython numpy
pip3 install -r requirements.txt

3. compile cython package

cd src/track/kcf && make & cd ../../../

How to run:

1. Edit variables in config.py (Optional)
2. Download machine learning models from Google Drive and unzip to "data" folder.
3. Run

• For survelliance video:

python3 CSG.py 

• For dash camera video:

It uses ORB-SLAM2 to get extrinsic parameters of moving camera. Please install ORB-SLAM2 first and put the executable file under the "/src/SLAM" folder.

Then run:

python3 CSG_ego.py 

Reqruiments

At least 1 GPU is needed. By default, the models are deployed on gpu:0. You can change your settings in "config" file.

Folder structure

+-- critical-scenario-generation
¦   +-- data
¦   ¦   +-- yolo
¦   ¦   +-- vehicle_reid
¦   ¦   +-- mask_rcnn_ego
¦   ¦   +-- mask_rcnn
¦   ¦   +-- lane
¦   ¦   +-- depth
¦   +-- src
¦   ¦   +-- SLAM
¦   ¦   ¦   +-- mono_kitti
¦   ¦   +-- ...
¦   +-- Lib_OpenSCENARIO
¦   +-- icon
¦   +-- CSG.py
¦   +-- CSG_ego.py
¦   +-- ScaleSolver.py
¦   +-- config.py
¦   +-- requirements.txt

Licence

check LICENSE

Citation

If you use our source code, please consider citing the following:

@InProceedings{csg2020,
  title={CSG: critical scenario generation from real traffic accidents},
  author={Zhang, Xinxin and Li, Fei and Wu, Xiangbin},
  booktitle = {IV},
  year={2020}
}