CODEWITHSUNDEEP
carlaoccupancy-map
Paul Wang
Paul Wang

Reputation: 1759

Carla Occupancy Map for training a occupancy networks

I am developing an occupancy networks for road scene. I wonder how to generate an occupancy map for an image captured from Carla.

The idea is to generate a random 3D point (x,y,z) to output whether the point is in an object (car, pedestrian, building, etc.) or not. For each image, we can generate say 100K 3D points with 0 or 1 (0: outside an object, 1: inside an object). Or even better to generate "semantic occupancy map": for each (x,y,z) point the value v: 0: empty space, 1: in the car, 2: in the pedestrian, 3: in the ground, etc.

Please point me to the reference if there is example code available to show how.

Thanks a lot for your help.

Upvotes: 1

Views: 260

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