RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving

Related tags

Deep LearningRTS3D
Overview

RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving (AAAI2021).

RTS3D is efficiency and accuracy stereo 3D object detection method for autonomous driving.

RTS3D

Introduction

RTS3D is the first true real-time system (FPS>24) for stereo image 3D detection meanwhile achieves 10% improvement in average precision comparing with the previous state-of-the-art method. RTS3D only require RGB images without synthetic data, instance segmentation, CAD model, or depth generator.

Highlights

  • Fast: 33 FPS of single image test speed in KITTI benchmark with 384*1280 resolution
  • Accuracy: SOTA on the KITTI benchmark.
  • Anchor Free: No 2D or 3D anchor are reauired
  • Easy to deploy: RTS3D uses conventional convolution operations and MLP, so it is very easy to deploy and accelerate.

RTS3D Baseline and Model Zoo

All experiments are tested with Ubuntu 16.04, Pytorch 1.0.0, CUDA 9.0, Python 3.6, single NVIDIA 2080Ti

IoU Setting 1: Car IoU > 0.5, Pedestrian IoU > 0.25, Cyclist IoU > 0.25

IoU Setting 2: Car IoU > 0.7, Pedestrian IoU > 0.5, Cyclist IoU > 0.5

  • Training on KITTI train split and evaluation on val split.
Class Iteration FPS AP BEV IoU Setting1 AP 3D IoU Setting1 AP BEV IoU Setting2 AP 3D IoU Setting2
- - - Easy / Moderate / Hard Easy / Moderate / Hard Easy / Moderate / Hard Easy / Moderate / Hard
Car- Recall-11 1 90.9 89.83, 77.05, 68.28 89.27, 70.12, 61.17 73.20, 53.62, 46.44 60.87, 42.38, 36.44
Car- Recall-40 1 90.9 92.92, 76.17, 66.62 90.35, 71.37, 63.52 78.12, 54.75, 47.09 60.34, 39.32, 32.97
Car- Recall-11 2 45.5 90.41, 78.70, 70.03 90.26, 77.23, 68.28 76.56, 56.46, 48.20 63.65, 44.50, 37.48
Car- Recall-40 2 45.5 95.75, 79.61, 69.69 93.57, 76.64, 66.72 78.12, 54.75, 47.09 63.99, 41.78, 34.96
  • Training on KITTI train split and evaluation on val split.
    • FCE Space Resolution: 10 * 10 * 10
    • Recall split: 11
    • Iteration: 2
    • Model: (Google Drive), (Baidu Cloud 提取码:4t4u)
Class AP BEV IoU Setting1 AP 3D IoU Setting1 AP BEV IoU Setting2 AP 3D IoU Setting2
- Easy / Moderate / Hard Easy / Moderate / Hard Easy / Moderate / Hard Easy / Moderate / Hard
Car 90.18, 78.46, 69.76 89.88, 76.64, 67.86 74.95, 54.07, 46.78 58.50, 39.74, 34.83
Pedestrian 57.12, 48.82, 40.88 56.36, 48.29, 40.22 32.16, 26.31, 21.28 26.95, 20.77, 19.74
Cyclist 54.48, 35.78, 30.80 53.86, 30.90, 30.52 33.59, 20.80, 20.14 31.05, 20.26, 18.93

Installation

Please refer to INSTALL.md

Dataset preparation

Please download the official KITTI 3D object detection dataset and organize the downloaded files as follows:

KM3DNet
├── kitti_format
│   ├── data
│   │   ├── kitti
│   │   |   ├── annotations
│   │   │   ├── calib /000000.txt .....
│   │   │   ├── image(left[0-7480] right[7481-14961] input augmentatiom)
│   │   │   ├── label /000000.txt .....
|   |   |   ├── train.txt val.txt trainval.txt
│   │   │   ├── mono_results /000000.txt .....
├── src
├── demo_kitti_format
├── readme
├── requirements.txt

Getting Started

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

Acknowledgement

License

RTS3D is released under the MIT License (refer to the LICENSE file for details). Portions of the code are borrowed from, CenterNet, iou3d and kitti_eval (KITTI dataset evaluation). Please refer to the original License of these projects (See NOTICE).

Citation

If you find this project useful for your research, please use the following BibTeX entry.

@misc{2012.15072,
Author = {Peixuan Li, Shun Su, Huaici Zhao},
Title = {RTS3D: Real-time Stereo 3D Detection from 4D Feature-Consistency Embedding Space for Autonomous Driving},
Year = {2020},
Eprint = {arXiv:2012.15072},
}
Code for Graph-to-Tree Learning for Solving Math Word Problems (ACL 2020)

Graph-to-Tree Learning for Solving Math Word Problems PyTorch implementation of Graph based Math Word Problem solver described in our ACL 2020 paper G

Jipeng Zhang 66 Nov 23, 2022
Solutions of Reinforcement Learning 2nd Edition

Solutions of Reinforcement Learning, An Introduction

YIFAN WANG 1.4k Dec 30, 2022
A collection of implementations of deep domain adaptation algorithms

Deep Transfer Learning on PyTorch This is a PyTorch library for deep transfer learning. We divide the code into two aspects: Single-source Unsupervise

Yongchun Zhu 647 Jan 03, 2023
Fast, modular reference implementation and easy training of Semantic Segmentation algorithms in PyTorch.

TorchSeg This project aims at providing a fast, modular reference implementation for semantic segmentation models using PyTorch. Highlights Modular De

ycszen 1.4k Jan 02, 2023
Code for the ICCV 2021 Workshop paper: A Unified Efficient Pyramid Transformer for Semantic Segmentation.

Unified-EPT Code for the ICCV 2021 Workshop paper: A Unified Efficient Pyramid Transformer for Semantic Segmentation. Installation Linux, CUDA=10.0,

29 Aug 23, 2022
Vision Transformer for 3D medical image registration (Pytorch).

ViT-V-Net: Vision Transformer for Volumetric Medical Image Registration keywords: vision transformer, convolutional neural networks, image registratio

Junyu Chen 192 Dec 20, 2022
wlad 2 Dec 19, 2022
Notspot robot simulation - Python version

Notspot robot simulation - Python version This repository contains all the files and code needed to simulate the notspot quadrupedal robot using Gazeb

50 Sep 26, 2022
Hierarchical Memory Matching Network for Video Object Segmentation (ICCV 2021)

Hierarchical Memory Matching Network for Video Object Segmentation Hongje Seong, Seoung Wug Oh, Joon-Young Lee, Seongwon Lee, Suhyeon Lee, Euntai Kim

Hongje Seong 72 Dec 14, 2022
Simple node deletion tool for onnx.

snd4onnx Simple node deletion tool for onnx. I only test very miscellaneous and limited patterns as a hobby. There are probably a large number of bugs

Katsuya Hyodo 6 May 15, 2022
PyTorch implementation of DreamerV2 model-based RL algorithm

PyDreamer Reimplementation of DreamerV2 model-based RL algorithm in PyTorch. The official DreamerV2 implementation can be found here. Features ... Run

118 Dec 15, 2022
TiP-Adapter: Training-free CLIP-Adapter for Better Vision-Language Modeling

TiP-Adapter: Training-free CLIP-Adapter for Better Vision-Language Modeling This is the official code release for the paper 'TiP-Adapter: Training-fre

peng gao 189 Jan 04, 2023
Video Corpus Moment Retrieval with Contrastive Learning (SIGIR 2021)

Video Corpus Moment Retrieval with Contrastive Learning PyTorch implementation for the paper "Video Corpus Moment Retrieval with Contrastive Learning"

ZHANG HAO 42 Dec 29, 2022
Implementation of Hire-MLP: Vision MLP via Hierarchical Rearrangement and An Image Patch is a Wave: Phase-Aware Vision MLP.

Hire-Wave-MLP.pytorch Implementation of Hire-MLP: Vision MLP via Hierarchical Rearrangement and An Image Patch is a Wave: Phase-Aware Vision MLP Resul

Nevermore 29 Oct 28, 2022
PyTorch implementation of DARDet: A Dense Anchor-free Rotated Object Detector in Aerial Images

DARDet PyTorch implementation of "DARDet: A Dense Anchor-free Rotated Object Detector in Aerial Images", [pdf]. Highlights: 1. We develop a new dense

41 Oct 23, 2022
Distributed Evolutionary Algorithms in Python

DEAP DEAP is a novel evolutionary computation framework for rapid prototyping and testing of ideas. It seeks to make algorithms explicit and data stru

Distributed Evolutionary Algorithms in Python 4.9k Jan 05, 2023
An open-source online reverse dictionary.

An open-source online reverse dictionary.

THUNLP 6.3k Jan 09, 2023
WRENCH: Weak supeRvision bENCHmark

🔧 What is it? Wrench is a benchmark platform containing diverse weak supervision tasks. It also provides a common and easy framework for development

Jieyu Zhang 176 Dec 28, 2022
Knowledgeable Prompt-tuning: Incorporating Knowledge into Prompt Verbalizer for Text Classification

Knowledgeable Prompt-tuning: Incorporating Knowledge into Prompt Verbalizer for Text Classification

DingDing 143 Jan 01, 2023
Generic Foreground Segmentation in Images

Pixel Objectness The following repository contains pretrained model for pixel objectness. Please visit our project page for the paper and visual resul

Suyog Jain 157 Nov 21, 2022