GDT

Geometric Digital Twin for roads

Part 1. Segmentation of road point clouds

This repository contains code for segmenting road environments for the following papers:

Using Road Design Priors to Improve Large-Scale 3D Road Scene Segmentation

Automating Construction of Road Geometric Digital Twins Using Context and Location Aware Segmentation

Context-aware segmentation examples with KITTI360 dataset (Multiclass segmentation separately on groun and non ground points (input is XYZRGB+eigenvalues+normals+trajectory based partitioning))

Location-aware segmentation examples with Digital Roads dataset (Binary segmentation after cutting out extended bounding boxes (BB) around furniture (input is XYZRGB+BB partitioning)

This code currently supports PointNet++.

Assumptions:

This repo code assumes that ground is already separated and partitioned for context-aware segmentation and bounding box partitioning is already done for location aware segmentation. See the dataset classes for the required format. This preprocessing will be available soon in a different repo.

How to use:

1. Clone the repository
2. Install the required packages using pip install -r requirements.txt, but before that install torch related libs yourself following their guidelines depending on your system and cuda version. I left torch libs in requirements.txt for reference of versions
3. Configure the parameters in the config file init.py
4. Run the main file pc_dl_pipeline.py

The code supports KITTI360 and Digital Roads datasets.

Part 2. Meshing pipeline

See different repository (to be available soon).

Examples on Digital Roads dataset:

Questions and suggestions

Please create GitHub issues for any questions or suggestions.

Pretrained models

Will be available soon.

Citation

Please cite these papers if you use this code in your research:

@incollection{davletshina2023using,
  title={Using Road Design Priors to Improve Large-Scale 3D Road Scene Segmentation},
  author={Davletshina, Diana and Brilakis, Ioannis},
  booktitle={Computing in Civil Engineering 2023},
  pages={9--16},
  year={2023}
}

@article{davletshina4767693automating,
  title={Automating Construction of Road Geometric Digital Twins Using Context and Location Aware Segmentation},
  author={Davletshina, Diana and Reja, Varun Kumar and Brilakis, Ioannis},
  journal={Available at SSRN 4767693}
}