An-Object-Classification-approach-for-Autonomous-Vehicles-using-synthetic-data

Object detection using YOLOv3 with TensorFlow 1.15.x in Carla Simulator

Setup

1. Download Carla 0.9.9 and python 3.7.5

 https://github.com/carla-simulator/carla/releases/tag/0.9.9/ 

2. Navigate to the Carla Simulator examples path by using the cd command. Assuming the examples path is located at \CARLA_0.9.9\WindowsNoEditor\PythonAPI\examples

3.Download COCO weights from this link:

https://github.com/YunYang1994/tensorflow-yolov3/releases/download/v1.0/yolov3_coco.tar.gz

4.Extract this file under the below path: ..\CARLA_0.9.9\WindowsNoEditor\PythonAPI\examples\tensorflow-yolov3\checkpoint

cd..
python convert_weight.py
python freeze_graph.py

5. Open CarlaEU4.exe (..\CARLA_0.9.9\WindowsNoEditor)

6. Run Command

python spawn_npc.py
python yolov3_object_detection.py

Project Directory Structure

.CARLA_0.9.9            
├── WindowsNoEditor
│   │   ├── CarlaUE4
│   │   ├── Co-Simulation
│   │   ├── Engine
│   │   ├── HDMaps
│   │   ├── PythonAPI
│   │   │   ├── carla
│   │   │   ├── util
│   │   │   ├── examples
│   │   │   │ 	├── yolov3_object_detection.py
│   │   │   │ 	├── tensorflow_yolov3    
│   │   │   │ 	│   │  	├── carla
│   │   │   │ 	│   │	│   ├── utils.py