Scenario visualization tool

MineSim Overview

System design Simulation engine Metrics evaluation Scenario visualization tool

Scenario Description

Data Collection and Annotation Scenario task description in MineSim HD map description

Benchmarks

Benchmarks for dynamic scenario Benchmarks for static scenario

Scenario visualization tool

It is crucial for researchers to quickly iterate on a new planning algorithm and closely investigate the algorithm’s performance. Therefore, MineSim provides two Scenario Visualization Tools: the 2D Visualizer and the 3D Visualizer.

2D Visualizer

The 2D Visualizer, developed using the Python Matplotlib, renders top-down views of each frame of a single scenario based on the simulation log file. Researchers can easily add scenario information and other information for the algorithm to the API as needed, as follow.

e.g. Scenario ID:dapai_intersection_1_3_4. Planning Method: Sampling Planner using Predefined Maneuver Modes(SPPMM).

Gif 1: Scenario ID dapai_intersection_1_3_4, SPPMM Method Example GIF

3D Visualizer

The 3D Visualizer, developed using ROS, renders 3D views of each frame in a scenario based on the simulation log file. It allows for an intuitive observation of vehicle interactions and longitudinal speed planning information for the ego vehicle, as follow.

Note: Currently, the 3D Visualizer does not support the “static obstacle avoidance scenario test”.

e.g. Scenario ID:dapai_intersection_1_3_4. Planning Method: SPPMM. An example of a collision occurring.

Video 1: Scenario ID dapai_intersection_1_3_4, SPPMM Method

Improve this page