HD_map_updating

Directory Structure

• data: test data for development
• third_party: third_party git modules
  • colmap
  • ORB-SLAM
  • argoverse-api
• triangulation: 3d points localization of 2d traffic sign
• 3D_projection: transformation from colmap coordinates to argoverse coordinates
• sign_detector: traffic sign detector, based on Detectron2

Pipeline

1. Run traffic sign detection on raw images ./sign_detector
2. Run Colmap SfM on raw images colmap_script.txt
3. Project Colmap points to argoverse map 3D_projection

Docker

We prepare a development-ready docker image at docker hub. Each time pushing to prod branch will trigger a build in the docker hub, so one should work on prod branch carefully.