For business inquiries, please contact us at [email protected].
We have just finished a refactorization of our codebase. Now you can use
pip installto start using mars instantly! Please contact us without hesitation if you encounter any issues using the latest version. Thanks!
Our related(dependent) project -- CarStudio is accepted by RAL and their code is available at GitHub. Congrats to them!
You must have an NVIDIA video card with CUDA installed on the system. This library has been tested with version 11.7 of CUDA. You can find more information about installing CUDA here.
Nerfstudio requires python >= 3.7. We recommend using conda to manage dependencies. Make sure to install Conda before proceeding.
conda create --name mars -y python=3.9
conda activate marsThis section will walk you through the installation process. Our system is dependent on the tiny-cuda-nn project.
pip install mars-nerfstudio
cd /path/to/tiny-cuda-nn/bindings/torch
python setup.py installThe following will train a MARS model.
Our repository provides dataparser for KITTI and vKITTI2 datasets, for your own data, you can write your own dataparser or convert your own dataset to the format of the provided datasets.
The data used in our experiments should contain both the pose parameters of cameras and object tracklets. The camera parameters include the intrinsics and the extrinsics. The object tracklets include the bounding box poses, types, ids, etc. For more information, you can refer to KITTI-MOT or vKITTI2 datasets below.
The KITTI-MOT dataset should look like this:
.(KITTI_MOT_ROOT)
├── panoptic_maps # (Optional) panoptic segmentation from KITTI-STEP dataset.
│ ├── colors
│ │ └── sequence_id.txt
│ ├── train
│ │ └── sequence_id
│ │ └── frame_id.png
└── training
├── calib
│ └── sequence_id.txt
├── completion_02 # (Optional) depth completion
│ └── sequence_id
│ └── frame_id.png
├── completion_03
│ └── sequence_id
│ └── frame_id.png
├── image_02
│ └── sequence_id
│ └── frame_id.png
├── image_03
│ └── sequence_id
│ └── frame_id.png
├── label_02
│ └── sequence_id.txt
└── oxts
└── sequence_id.txt
We use a monocular depth estimation model to generate the depth maps for KITTI-MOT dataset. Here is the estimation result of 0006 sequence of KITTI-MOT datasets. You can download and put them in the
KITTI-MOT/trainingdirectory.
We download the KITTI-STEP annotations and generate the panoptic segmentation maps for KITTI-MOT dataset. You can download the demo panoptic maps here and put them in the
KITTI-MOTdirectory, or you can visit the official website of KITTI-STEP for more information.
To train a reconstruction model, you can use the following command:
ns-train mars-kitti-car-depth-recon --data /data/kitti-MOT/training/image_02/0006or if you want to use the Python script (please refer to the launch.json file in the .vscode directory):
python nerfstudio/nerfstudio/scripts/train.py mars-kitti-car-depth-recon --data /data/kitti-MOT/training/image_02/0006The vKITTI2 dataset should look like this:
.(vKITTI2_ROOT)
└── sequence_id
└── scene_name
├── bbox.txt
├── colors.txt
├── extrinsic.txt
├── info.txt
├── instrinsic.txt
├── pose.txt
└── frames
├── depth
│ ├── Camera_0
│ │ └── frame_id.png
│ └── Camera_1
│ │ └── frame_id.png
├── instanceSegmentation
│ ├── Camera_0
│ │ └── frame_id.png
│ └── Camera_1
│ │ └── frame_id.png
├── classSegmentation
│ ├── Camera_0
│ │ └── frame_id.png
│ └── Camera_1
│ │ └── frame_id.png
└── rgb
├── Camera_0
│ └── frame_id.png
└── Camera_1
└── frame_id.png
To train a reconstruction model, you can use the following command:
ns-train mars-vkitti-car-depth-recon --data /data/vkitti/Scene06/cloneor if you want to use the python script:
python nerfstudio/nerfstudio/scripts/train.py mars-vkitti-car-depth-recon --data /data/vkitti/Scene06/cloneFor your own data, you can refer to the above data structure and write your own dataparser, or you can convert your own dataset to the format of the dataset above.
Our model uses nerfstudio as the training framework, we provide the reconstruction and novel view synthesis tasks checkpoints.
Our pre-trained model is uploaded to Google Drive, you can refer to the below table to download the model.
| Dataset | Scene | Setting | Start-End | Steps | PSNR | SSIM | Download | Wandb |
|---|---|---|---|---|---|---|---|---|
| KITTI-MOT | 0006 | Reconstruction | 65-120 | 400k | 27.96 | 0.900 | model | report |
| 0006 | Novel View Synthesis 75% | 65-120 | 200k | 27.32 | 0.890 | model | report | |
| 0006 | Novel View Synthesis 50% | 65-120 | 200k | 26.80 | 0.883 | model | report | |
| 0006 | Novel View Synthesis 25% | 65-120 | 200k | 25.87 | 0.866 | model | report | |
| Vitural KITTI-2 | Scene06 | Novel View Synthesis 75% | 0-237 | 600k | 32.32 | 0.940 | model | report |
| Scene06 | Novel View Synthesis 50% | 0-237 | 600k | 32.16 | 0.938 | model | report | |
| Scene06 | Novel View Synthesis 25% | 0-237 | 600k | 30.87 | 0.935 | model | report |
You can use the following command to train a model from a pre-trained model:
ns-train mars-kitti-car-depth-recon --data /data/kitti-MOT/training/image_02/0006 --load-dir outputs/experiment_name/method_name/timestamp/nerfstudioOur modular framework supports combining different architectures for each node by modifying model configurations. Here's an example of using Nerfacto for background and our category-level object model:
model=SceneGraphModelConfig(
background_model=NerfactoModelConfig(),
object_model_template=CarNeRFModelConfig(_target=CarNeRF),
object_representation="class-wise",
object_ray_sample_strategy="remove-bg",
)If you choose to use the category-level object model, please make sure that the
use_car_latents=Trueand the latent codes exists. We provide latent codes of some sequences on KITTI-MOT and vKITTI2 datasets here.
For more information, please refer to our provided configurations at mars/cicai_configs.py. We use wandb for logging by default, you can also specify other viewers (tensorboard/nerfstudio-viewer supported) with the --vis config. Please refer to the nerfstudio documentation for details.
If you want to render with our pre-trained model, you should visit here to download our checkpoints and config. To run the render script, you need to ensure that your config is the same as the config.yml that you load in.
You can use the following command to render. You can modify output format and directory by specificing --output-format and --output-path :
python scripts/cicai_render.py --load-config outputs/kitti-recon-65-120/mars-kitti-car-depth-recon/2023-10-30_212654/config.yml --output-format video
or
python scripts/cicai_render.py --load-config outputs/kitti-recon-65-120/mars-kitti-car-depth-recon/2023-10-30_212654/config.yml --output-format images --output-path /path/to/your/output/directoryYou can find our paper here. If you use this library or find the repo useful for your research, please consider citing:
@article{wu2023mars,
author = {Wu, Zirui and Liu, Tianyu and Luo, Liyi and Zhong, Zhide and Chen, Jianteng and Xiao, Hongmin and Hou, Chao and Lou, Haozhe and Chen, Yuantao and Yang, Runyi and Huang, Yuxin and Ye, Xiaoyu and Yan, Zike and Shi, Yongliang and Liao, Yiyi and Zhao, Hao},
title = {MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Driving},
journal = {CICAI},
year = {2023},
}
Part of our code is borrowed from Nerfstudio. This project is sponsored by Tsinghua-Toyota Joint Research Fund (20223930097) and Baidu Inc. through Apollo-AIR Joint Research Center.
This open-sourced version will be actively maintained and regularly updated. For more features, please contact us for a commercial version.