The benchmark toolkit is in Place3D.zip

Download CARLA v0.9.10 and unzip it under ./carla. Follow the install instruction of scenario_runner of commit ad71a2c.

Run CARLA as default and then run the following shell script to generate dataset.

cd ./carla-nuscenes/scripts
bash routes_baselines.sh

Run the following code to create nuScenes-formatted labels.

cp -r ./carla-nuscenes/dataset/[YOUR LIDAR PLACEMENT]/training/label_2 ./NuScenes_generate/label_2
python ./NuScenes_generate/create_trainval_3d.py

We create the environment for object detection and semantic segmentation using mmdetection3d. Please follow the instruction in perception.zip to train the model.