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terrapn
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README.md
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terrapn
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## Code Usage This is the main working code and model for TerraPN, the paper found here: https://ieeexplore.ieee.org/document/9981942 # Steps to follow: 0. Install ROS Melodic. 1. Setup the conda environment using terrapn.yaml inside the conda folder. 2. Setup RGB image stream from a camera. outdoor_dwa contains the ros callback function to subscribe to images, and velocities from the robot's odometry and output a "surface costmap". 3. Run outdoor_dwa.py within the terrapn conda environment. # Training * The training code, and associated txt files needed to read the dataset can be found in the model folder along with the network model. * Our dataset to train a new model can be found [here](https://drive.google.com/file/d/1_FLILRz9FmYFFfTTeis_VSnhAXzIEHV3/view?usp=drive_link).
