Cooperative Evidential Semantic Grid

Introduction

This project use the 2 dimenssional bounding boxes from cameras of road side units (RSU) and on-board units (OBU) to generate an semantic occupancy map of a scene. We focused our work on situations at intersection and especially at round-abouts.

installation

APT

To compile and run the CPP libraries, you'ill need to install opencv. You will also need python 3.9.

sudo apt update
sudo apt install libopencv-dev python3-opencv
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt install python3.9 python3.9-tk python3.9-distutils python3.9-venv

Create and configure the venv

A Python 3.9 virtual environment is advised. Run the following command in the Source directory of the project.

python3.9 -m venv venv-project
source venv-project/bin/activate
pip install -r requirements.txt

VSCODE Extession

• Makefile tools
• C/C++

Run the code

NB: For now, the code may only work on linux.

Virtual environement

The project runs inside a virtual environement which is included in this repository. Run the following command to enter in the virtual environement.

source venv/bin/activate

Using the scripts

This section will be updated as the project progresses.

Entry point

The entry point of the project is the Sources/testbench.py script.

Unit tests

Documentation

Some documentation is available in the Sources/html folder.