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MAFNet-PyTorch

The official pytorch implementation of MAFNet: Segmentation of Road Potholes with Multi-modal Attention Fusion Network for Autonomous Vehicles (TIM).

We test our code in Python 3.7, CUDA 11.1, cuDNN 8, and PyTorch 1.7.1. We provide Dockerfile to build the docker image we used. You can modify the Dockerfile as you want.

Demo

The accompanied video can be found at: https://www.youtube.com/watch?v=hQM5IW5N91M

Introduction

MAFNet is a multi-modal fusion network for semantic segmentation of road potholes.

Dataset

The original dataset can be downloaded from the AARTFnet project page. You can use the augmentation method proposed in this paper to get the training dataset or you can download our processed data from here.

Pretrained weights

The pretrained weight of MAFNet can be downloaded from here.

Usage

  • Clone this repo
$ git clone https://github.com/lab-sun/MAFNet.git
  • Build docker image
$ cd ~/MAFNet
$ docker build -t docker_image_mafnet .
  • Download the dataset
$ (You should be in the MAFNet folder)
$ mkdir ./dataset
$ cd ./dataset
$ (download our preprocessed dataset.zip in this folder)
$ unzip -d .. dataset.zip
  • To reproduce our results, you need to download our pretrained weights.
$ (You should be in the MAFNet folder)
$ mkdir ./weights_backup/MAFNet
$ cd ./weights_backup/MAFNet
$ (download our preprocessed dataset.zip in this folder)
$ unzip -d .. dataset.zip
$ docker run -it --shm-size 8G -p 1234:6006 --name docker_container_mafnet --gpus all -v ~/MAFNet:/workspace docker_image_mafnet
$ (currently, you should be in the docker)
$ cd /workspace
$ python3 run_demo.py

The results will be saved in the ./runs folder.

  • To train MAFNet
$ (You should be in the MAFNet folder)
$ docker run -it --shm-size 8G -p 1234:6006 --name docker_container_mafnet --gpus all -v ~/MAFNet:/workspace docker_image_mafnet
$ (currently, you should be in the docker)
$ cd /workspace
$ python3 train.py
  • To see the training process
$ (fire up another terminal)
$ docker exec -it docker_container_mafnet /bin/bash
$ cd /workspace
$ tensorboard --bind_all --logdir=./runs/tensorboard_log/
$ (fire up your favorite browser with http://localhost:1234, you will see the tensorboard)

The results will be saved in the ./runs folder. Note: Please change the smoothing factor in the Tensorboard webpage to 0.999, otherwise, you may not find the patterns from the noisy plots. If you have the error docker: Error response from daemon: could not select device driver, please first install NVIDIA Container Toolkit on your computer!

Citation

If you use MAFNet in your academic work, please cite:

@ARTICLE{feng2022mafnet,
  author={Zhen Feng and Yanning Guo and Qing Liang and M. Usman Maqbool Bhutta and Hengli Wang and Ming Liu and Yuxiang Sun},
  journal={IEEE Transactions on Instrumentation and Measurement}, 
  title={MAFNet: Segmentation of Road Potholes With Multimodal Attention Fusion Network for Autonomous Vehicles}, 
  year={2022},
  volume={71},
  number={},
  pages={1-12},
  doi={10.1109/TIM.2022.3200100}}

Demo

Acknowledgement

Some of the codes are borrowed from RTFNet, AARTFNet and TransUNet

Contact: [email protected]

Website: https://yuxiangsun.github.io/