Skip to content

GitLab

Unverified Commit 0b1afcf9 authored by Shaoshuai Shi's avatar Shaoshuai Shi Committed by GitHub
Browse files

Update README.md

parent e5ba23fa
Hide whitespace changes
Inline Side-by-side
Showing with 14 additions and 14 deletions
README.md
View file @ 0b1afcf9
...@@ -3,9 +3,9 @@ ...@@ -3,9 +3,9 @@
# OpenPCDet # OpenPCDet
## Introduction ## Introduction
`OpenPCDet` is an open source project for LiDAR-based 3D scene perception. `OpenPCDet` is a clear, simple, self-contained open source project for LiDAR-based 3D object detection.
As of now, it mainly consists of `OpenPCDet` toolbox for 3D object detection from point cloud.
It is also the official code release of [`[Part-A^2 net]`](https://arxiv.org/abs/1907.03670) and [`[PV-RCNN]`](https://arxiv.org/abs/1912.13192).
### What does `OpenPCDet` toolbox do? ### What does `OpenPCDet` toolbox do?
...@@ -18,8 +18,6 @@ Based on `OpenPCDet` toolbox, we win the Waymo Open Dataset challenge in [3D Det ...@@ -18,8 +18,6 @@ Based on `OpenPCDet` toolbox, we win the Waymo Open Dataset challenge in [3D Det
[3D Tracking](https://waymo.com/open/challenges/3d-tracking/), [Domain Adaptation](https://waymo.com/open/challenges/domain-adaptation/) [3D Tracking](https://waymo.com/open/challenges/3d-tracking/), [Domain Adaptation](https://waymo.com/open/challenges/domain-adaptation/)
three tracks among all LiDAR-only methods, and the Waymo related models will be released to `OpenPCDet` soon. three tracks among all LiDAR-only methods, and the Waymo related models will be released to `OpenPCDet` soon.
It is also the official code release of [`[Part-A^2 net]`](https://arxiv.org/abs/1907.03670) and [`[PV-RCNN]`](https://arxiv.org/abs/1912.13192).
We are actively updating this repo currently, and more datasets and models will be supported soon. We are actively updating this repo currently, and more datasets and models will be supported soon.
Contributions are also welcomed. Contributions are also welcomed.
...@@ -35,8 +33,10 @@ Contributions are also welcomed. ...@@ -35,8 +33,10 @@ Contributions are also welcomed.
<img src="docs/model_framework.png" width="95%"> <img src="docs/model_framework.png" width="95%">
</p> </p>
* Clear, simple, self-contained code structure for better understanding and use. * Clear, simple, self-contained code structure for better understanding and use.
### Currently Supported Features ### Currently Supported Features
- [x] Support both one-stage and two-stage 3D object detection frameworks - [x] Support both one-stage and two-stage 3D object detection frameworks
...@@ -52,16 +52,16 @@ Contributions are also welcomed. ...@@ -52,16 +52,16 @@ Contributions are also welcomed.
### KITTI 3D Object Detection Baselines ### KITTI 3D Object Detection Baselines
Selected supported methods are shown in the below table. The results are the 3D detection performance of car class on the *val* set of KITTI dataset. Selected supported methods are shown in the below table. The results are the 3D detection performance of car class on the *val* set of KITTI dataset.
All models are trained with 8 GPUs and are available for download. All models are trained with 8 GTX 1080Ti GPUs and are available for download.
| | Batch Size | AP_Easy | **AP_Moderate** | AP_Hard | download | | |training time | Batch Size | AP_Easy | **AP_Moderate** | AP_Hard | download |
|---------------------------------------------|:----------:|:-------:|:-------:|:-------:|:---------:| |---------------------------------------------|:----------:|:----------:|:-------:|:-------:|:-------:|:---------:|
| [PointPillar](tools/cfgs/kitti_models/pointpillar.yaml) | 32 | 86.46 | 77.28 | 74.65 | [model-18M](https://drive.google.com/file/d/1wMxWTpU1qUoY3DsCH31WJmvJxcjFXKlm/view?usp=sharing) | | [PointPillar](tools/cfgs/kitti_models/pointpillar.yaml) |~95 mins| 32 | 86.46 | 77.28 | 74.65 | [model-18M](https://drive.google.com/file/d/1wMxWTpU1qUoY3DsCH31WJmvJxcjFXKlm/view?usp=sharing) |
| [SECOND](tools/cfgs/kitti_models/second.yaml) | 32 | 88.61 | 78.62| 77.22 | [model-20M](https://drive.google.com/file/d/1-01zsPOsqanZQqIIyy7FpNXStL3y4jdR/view?usp=sharing) | | [SECOND](tools/cfgs/kitti_models/second.yaml) | ~2hours | 32 | 88.61 | 78.62| 77.22 | [model-20M](https://drive.google.com/file/d/1-01zsPOsqanZQqIIyy7FpNXStL3y4jdR/view?usp=sharing) |
| [Part-A^2](tools/cfgs/kitti_models/PartA2.yaml) | 32 | 89.55 | 79.40 | 78.84 | [model-244M](https://drive.google.com/file/d/10GK1aCkLqxGNeX3lVu8cLZyE0G8002hY/view?usp=sharing) | | [Part-A^2](tools/cfgs/kitti_models/PartA2.yaml) | ~5hours| 32 | 89.55 | 79.40 | 78.84 | [model-244M](https://drive.google.com/file/d/10GK1aCkLqxGNeX3lVu8cLZyE0G8002hY/view?usp=sharing) |
| [PV-RCNN](tools/cfgs/kitti_models/pv_rcnn.yaml) | 16 | 89.34 | 83.69 | 78.70 | [model-50M](https://drive.google.com/file/d/1lIOq4Hxr0W3qsX83ilQv0nk1Cls6KAr-/view?usp=sharing) | | [PV-RCNN](tools/cfgs/kitti_models/pv_rcnn.yaml) | ~5.8hours| 16 | 89.34 | 83.69 | 78.70 | [model-50M](https://drive.google.com/file/d/1lIOq4Hxr0W3qsX83ilQv0nk1Cls6KAr-/view?usp=sharing) |
| [SECOND-MultiHead](tools/cfgs/kitti_models/second_multihead.yaml) | 32 | - | - | - | ongoing | | [SECOND-MultiHead](tools/cfgs/kitti_models/second_multihead.yaml) | - | 32 | - | - | - | ongoing |
| PointRCNN | 32 | - | - | - | ongoing| | PointRCNN | - | 32 | - | - | - | ongoing|
### Other datasets ### Other datasets
More datasets are on the way. More datasets are on the way.
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment