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DL project (CS4240): Reproducibility of KPRNet

This repository contains the source code for a reproduction/extension of the paper: KPRNet: Improving projection-based LiDAR semantic segmentation.

Autors:
Group 17:
Aden Westmaas (4825373)
Badr Essabri (5099412)
Guido Dumont (5655366)

Documentation:
Blog post: Project blog post
Original paper: KPRNet: Improving projection-based LiDAR semantic segmentation
Original GitHub: KPRNet github repository

Installation

Please follow the installation instruction of the original repository and add the packages listed in requirements.txt afterwards.

Repository content

  1. Reproduction of the results in the paper
  2. Data augmentation to check robustness
  3. Implementation of the KITTI-360 dataset

Reproduction of the results in the paper

Run run_inference.py in the source code in the original repository.

Data augmentation to check robustness

Run run_inference_data_augmentation.py to run the model with data augmentation. Within this file you can specify the amount of obscure used in the augmentation.

Reproduction of the results in the paper

Run the Jupyter Notebook implementation_kitti360.ipynb.

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