Research Project Source Code

Introduction

The code is based on OpenPCDet v0.3.0. More updates on OpenPCDet are supposed to be compatible with our code.

Model Zoo

Waymo -> KITTI TASK

	method	Car@R40	Ped@R40	Cyc@R40
SECOND-IoU-GT	Tuned Anchor (Our)	64.36	49.31	55.97
SECOND-IoU-LD	Tuned Anchor (Our)	64.92	39.10	-
SECOND-IoU	Tuned Anchor(Our)	64.03
SECOND-IoU	ST3D	62.19	48.33	46.09
SECOND-IoU	ST3D (w/ sn)	73.62	51.92	53.00
SECOND-IoU	ST3D++	65.10	53.87	53.43
SECOND-IoU	ST3D++ (w/ sn)	74.73	59.21	60.76
PVRCNN	ST3D	64.05	-	-
PVRCNN	ST3D (w/ sn)	77.33	-	-
PVRCNN_GT	Tuned anchor(our)	60.33

nuScenes -> KITTI TASK

	method	Car@R40
SECOND-IoU-GT	Tuned Anchor (Our)	46.34
SECOND-IoU	Source Only	17.92
SECOND-IoU	ROS	25.37
SECOND-IoU	SN	21.23
SECOND-IoU	ST3D	55.19
SECOND-IoU	ST3D (w/ SN)	62.27
SECOND-IoU	ST3D++	66.01
SECOND-IoU	ST3D++ (w/ SN)	66.24
PV-RCNN	Source Only	37.17
PV-RCNN	ROS	38.84
PV-RCNN	SN	49.47
PV-RCNN	ST3D	71.11
PV-RCNN	ST3D (w/ SN)	73.16
PV-RCNN	Tuned Anchor (Our)	54.72
PointRCNN	ROS	55.92
PointRCNN	ST3D++	67.51

Waymo -> nuScenes TASK

	method	Car@R11	Car@R40	download
SECOND-IoU	Tuned Anchor(Our)	19.35
SECOND-LD	Tuned Anchor(Our)	23.46
SECOND-IoU	ST3D	23.24	20.19
PVRCNN	ST3D	27.18	22.99
SECOND-IoU	ST3D (w/ sn)	23.52	20.38
PVRCNN	ST3D (w/ sn)	28.06	23.67

Installation

Please refer to INSTALL.md for the installation.

Getting Started

Please refer to GETTING_STARTED.md to learn more usage about this project.

For Demo

Please refer to DEMO.md, for visualization of detections, and point cloud data.

Sample Detection Visualization

Acknowledgement

Our code is heavily based on OpenPCDet v0.3. Thanks OpenPCDet Development Team for their awesome codebase.