Behind the Curtain: Learning Occluded Shapes for 3D Object Detection

Related tags

Deep LearningBtcDet
Overview

Behind the Curtain: Learning Occluded Shapes for 3D Object Detection

Acknowledgement

We implement our model, BtcDet, based on [OpenPcdet 0.3.0].

Installation

Requirements

All the codes are tested in the following environment:

Install

b. Install the dependent libraries as follows:

  • Install the dependent python libraries:
pip install -r requirements.txt 
  • Install the SparseConv library, we use the implementation from [spconv].
    • If you use PyTorch 1.1, then make sure you install the spconv v1.0 with (commit 8da6f96) instead of the latest one.
    • If you use PyTorch 1.3+, then you need to install the spconv v1.2. As mentioned by the author of spconv
    git clone -b v1.2.1  https://github.com/traveller59/spconv.git --recursive
    
    cd spconv
    
    sudo apt-get install libboost-all-dev
    
    python setup.py bdist_wheel
    
    cd ./dist 
    
    then use pip to install generated whl file.
    pip install spconv-1.2.1-{your system info}.whl
    
    After that, you should first get out of the spconv directory, then do python import spconv to see if you installed it correctly.

c. Install this btcdet library by running the following command:

cd btcdet
python setup.py develop

Preparation

KITTI Dataset

  • Please download the official KITTI 3D object detection dataset and organize the downloaded files as follows (the road planes could be downloaded from [road plane], which are optional for data augmentation in the training):
BtcDet
├── data
│   ├── kitti
    │   │   │──detection3d  │── ImageSets
                    │   │   │── training
                    │   │   │   ├──calib & velodyne & label_2 & image_2 & (optional: planes) & (optional: depth_2)
                    │   │   │── testing
                    │   │   │   ├──calib & velodyne & image_2
  • Generate the data infos by running the following command:
python -m btcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml

Generate Approximated complete object points:

(at btcdet directory, execute:)

python -m btcdet.datasets.multifindbestfit

Alternatively,

you can use our generated kitti's data including the generated complete object points, download it [here (about 31GBs)] and put the zip file inside data/kitti/ and unzip it as detection3d directory.

Run training:

cd tools/

Single gpu training

mkdir output

mkdir output/kitti_car

python train.py --cfg_file ./cfgs/model_configs/btcdet_kitti_car.yaml --output_dir ../output/kitti_car/ --batch_size 2

Multi gpu training

bash scripts/dist_train.sh 4  --batch_size 8 --gpu_str "0,1,2,3" --cfg_file ./cfgs/model_configs/btcdet_kitti_car.yaml --output_dir ../output/kitti_car/
Owner
Qiangeng Xu
Qiangeng Xu
Exploring Versatile Prior for Human Motion via Motion Frequency Guidance (3DV2021)

Exploring Versatile Prior for Human Motion via Motion Frequency Guidance [Video Demo] [Paper] Installation Requirements Python 3.6 PyTorch 1.1.0 Pleas

Jiachen Xu 19 Oct 28, 2022
FairEdit: Preserving Fairness in Graph Neural Networks through Greedy Graph Editing

FairEdit Relevent Publication FairEdit: Preserving Fairness in Graph Neural Networks through Greedy Graph Editing

5 Feb 04, 2022
Online Pseudo Label Generation by Hierarchical Cluster Dynamics for Adaptive Person Re-identification

Online Pseudo Label Generation by Hierarchical Cluster Dynamics for Adaptive Person Re-identification

TANG, shixiang 6 Nov 25, 2022
Official implementation of deep-multi-trajectory-based single object tracking (IEEE T-CSVT 2021).

DeepMTA_PyTorch Officical PyTorch Implementation of "Dynamic Attention-guided Multi-TrajectoryAnalysis for Single Object Tracking", Xiao Wang, Zhe Che

Xiao Wang(王逍) 7 Dec 03, 2022
Wenzhou-Kean University AI-LAB

AI-LAB This is Wenzhou-Kean University AI-LAB. Our research interests are in Computer Vision and Natural Language Processing. Computer Vision Please g

WKU AI-LAB 10 May 05, 2022
PyTorch reimplementation of hand-biomechanical-constraints (ECCV2020)

Hand Biomechanical Constraints Pytorch Unofficial PyTorch reimplementation of Hand-Biomechanical-Constraints (ECCV2020). This project reimplement foll

Hao Meng 59 Dec 20, 2022
CARLA: A Python Library to Benchmark Algorithmic Recourse and Counterfactual Explanation Algorithms

CARLA - Counterfactual And Recourse Library CARLA is a python library to benchmark counterfactual explanation and recourse models. It comes out-of-the

Carla Recourse 200 Dec 28, 2022
ECLARE: Extreme Classification with Label Graph Correlations

ECLARE ECLARE: Extreme Classification with Label Graph Correlations @InProceedings{Mittal21b, author = "Mittal, A. and Sachdeva, N. and Agrawal

Extreme Classification 35 Nov 06, 2022
Pywonderland - A tour in the wonderland of math with python.

A Tour in the Wonderland of Math with Python A collection of python scripts for drawing beautiful figures and animating interesting algorithms in math

Zhao Liang 4.1k Jan 03, 2023
[AAAI 2021] EMLight: Lighting Estimation via Spherical Distribution Approximation and [ICCV 2021] Sparse Needlets for Lighting Estimation with Spherical Transport Loss

EMLight: Lighting Estimation via Spherical Distribution Approximation (AAAI 2021) Update 12/2021: We release our Virtual Object Relighting (VOR) Datas

Fangneng Zhan 144 Jan 06, 2023
An Implicit Function Theorem (IFT) optimizer for bi-level optimizations

iftopt An Implicit Function Theorem (IFT) optimizer for bi-level optimizations. Requirements Python 3.7+ PyTorch 1.x Installation $ pip install git+ht

The Money Shredder Lab 2 Dec 02, 2021
Filtering variational quantum algorithms for combinatorial optimization

Current gate-based quantum computers have the potential to provide a computational advantage if algorithms use quantum hardware efficiently.

1 Feb 09, 2022
PyTorch reimplementation of REALM and ORQA

PyTorch reimplementation of REALM and ORQA

Li-Huai (Allan) Lin 17 Aug 20, 2022
Automatic tool focused on deriving metallicities of open clusters

metalcode Automatic tool focused on deriving metallicities of open clusters. Based on the method described in Pöhnl & Paunzen (2010, https://ui.adsabs

2 Dec 13, 2021
LTR_CrossEncoder: Legal Text Retrieval Zalo AI Challenge 2021

LTR_CrossEncoder: Legal Text Retrieval Zalo AI Challenge 2021 We propose a cross encoder model (LTR_CrossEncoder) for information retrieval, re-retrie

Hieu Duong 7 Jan 12, 2022
A Number Recognition algorithm

Paddle-VisualAttention Results_Compared SVHN Dataset Methods Steps GPU Batch Size Learning Rate Patience Decay Step Decay Rate Training Speed (FPS) Ac

1 Nov 12, 2021
PyTorch implementation of SMODICE: Versatile Offline Imitation Learning via State Occupancy Matching

SMODICE: Versatile Offline Imitation Learning via State Occupancy Matching This is the official PyTorch implementation of SMODICE: Versatile Offline I

Jason Ma 14 Aug 30, 2022
Demos of essentia classifiers hosted on replicate.ai

essentia-replicate-demos Demos of Essentia models hosted on replicate.ai's MTG site. The models Check our site for a complete list of the models avail

Music Technology Group - Universitat Pompeu Fabra 12 Nov 14, 2022
[CVPR 2021] Exemplar-Based Open-Set Panoptic Segmentation Network (EOPSN)

EOPSN: Exemplar-Based Open-Set Panoptic Segmentation Network (CVPR 2021) PyTorch implementation for EOPSN. We propose open-set panoptic segmentation t

Jaedong Hwang 49 Dec 30, 2022
This is my codes that can visualize the psnr image in testing videos.

CVPR2018-Baseline-PSNRplot This is my codes that can visualize the psnr image in testing videos. Future Frame Prediction for Anomaly Detection – A New

Wenhao Yang 12 May 29, 2021