The code is based on OpenPCDet v0.3.0. More updates on OpenPCDet are supposed to be compatible with our code.
| 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 |
| 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 |
| 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 |
Please refer to INSTALL.md for the installation.
Please refer to GETTING_STARTED.md to learn more usage about this project.
Please refer to DEMO.md, for visualization of detections, and point cloud data.
Our code is heavily based on OpenPCDet v0.3. Thanks OpenPCDet Development Team for their awesome codebase.