Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
transfuser
This repository contains the code for the CVPR 2021 paper Multi-Modal Fusion Transformer for End-to-End Autonomous Driving. If you find our code or paper useful, please cite
@inproceedings{Prakash2021CVPR,
author = {Prakash, Aditya and Chitta, Kashyap and Geiger, Andreas},
title = {Multi-Modal Fusion Transformer for End-to-End Autonomous Driving},
booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2021}
}
Setup
Install anaconda
wget https://repo.anaconda.com/archive/Anaconda3-2020.11-Linux-x86_64.sh
bash Anaconda3-2020.11-Linux-x86_64.sh
source ~/.profile
Clone the repo and build the environment
git clone https://github.com/autonomousvision/transfuser
cd transfuser
conda create -n transfuser python=3.7
pip3 install -r requirements.txt
conda activate transfuser
Download and setup CARLA 0.9.10.1
chmod +x setup_carla.sh
./setup_carla.sh
Data Generation
The training data is generated using leaderboard/team_code/auto_pilot.py in 8 CARLA towns and 14