## InternImage-based Baseline for CVPR23 Occupancy Prediction Challenge!!!!

We improve our baseline with a more powerful image backbone: **InternImage**, which shows its excellent ability within a
series of leaderboards and benchmarks, such as *COCO* and *nuScenes*.

#### 1. Requirements

```bash
python>=3.8
torch==1.12 # recommend
mmcv-full>=1.5.0
mmdet==2.24.0
mmsegmentation==0.24.0
timm
numpy==1.22
mmdet3d==0.18.1 # recommend
```

### 2. Install DCNv3 for InternImage

```bash
cd projects/mmdet3d_plugin/bevformer/backbones/ops_dcnv3
bash make.sh # requires torch>=1.10
```

### 3. Train with InternImage-Small

```bash
./tools/dist_train.sh projects/configs/bevformer/bevformer_intern-s_occ.py 8 # consumes less than 14G memory
```

Notes: InatenImage provides abundant pre-trained model weights that can be used!!!

### 4. Performance compared to baseline

| model name             |                                                weight                                                 | mIoU  | others | barrier | bicycle |  bus  |  car  | construction_vehicle | motorcycle | pedestrian | traffic_cone | trailer | truck | driveable_surface | other_flat | sidewalk | terrain | manmade | vegetation |
| ---------------------- | :---------------------------------------------------------------------------------------------------: | :---: | :----: | :-----: | :-----: | :---: | :---: | :------------------: | :--------: | :--------: | :----------: | :-----: | :---: | :---------------: | :--------: | :------: | :-----: | :-----: | :--------: |
| bevformer_intern-s_occ |  [Google Drive](https://drive.google.com/file/d/1LV9K8hrskKf51xY1wbqTKzK7WZmVXEV_/view?usp=sharing)   | 25.11 |  6.93  |  35.57  |  10.40  | 35.97 | 41.23 |        13.72         |   20.30    |   21.10    |    18.34     |  19.18  | 28.64 |       49.82       |   30.74    |  31.00   |  27.44  |  19.29  |   17.29    |
| bevformer_base_occ     | [Google Drive](https://drive.google.com/file/d/1NyoiosafAmne1qiABeNOPXR-P-y0i7_I/view?usp=share_link) | 23.67 |  5.03  |  38.79  |  9.98   | 34.41 | 41.09 |        13.24         |   16.50    |   18.15    |    17.83     |  18.66  | 27.70 |       48.95       |   27.73    |  29.08   |  25.38  |  15.41  |   14.46    |

## Challenge Timeline

- Pending - Challenge Period Open.
- Jun 01, 2023 - Challenge Period End.
- Jun 03, 2023 - Finalist Notification.
- Jun 10, 2023 - Technical Report Deadline.
- Jun 12, 2023 - Winner Announcement.

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## Leaderboard

To be released.

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## License

Before using the dataset, you should register on the website and agree to the terms of use of
the [nuScenes](https://www.nuscenes.org/nuscenes). All code within this repository is
under [Apache License 2.0](./LICENSE).

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