UVTR

Unifying Voxel-based Representation with Transformer for 3D Object Detection

Yanwei Li, Yilun Chen, Xiaojuan Qi, Zeming Li, Jian Sun, Jiaya Jia

[arXiv] [BibTeX]

<div align="center"> <img src="projects/docs/uvtr.png"/> </div><br/>

This project provides an implementation for the NeurIPS 2022 paper "Unifying Voxel-based Representation with Transformer for 3D Object Detection" based on mmDetection3D. UVTR aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D detection.

Preparation

This project is based on mmDetection3D, which can be constructed as follows.

• Install PyTorch v1.7.1 and mmDetection3D v0.17.3 following the instructions.
• Copy our project and related files to installed mmDetection3D:

cp -r projects mmdetection3d/
cp -r extra_tools mmdetection3d/

• Prepare the nuScenes dataset following the structure.
• Generate the unified data info and sampling database for nuScenes dataset:

python3 extra_tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes_unified

Training

You can train the model following the instructions. You can find the pretrained models here if you want to train the model from scratch. For example, to launch UVTR training on multi GPUs, one should execute:

cd /path/to/mmdetection3d
bash extra_tools/dist_train.sh ${CFG_FILE} ${NUM_GPUS}

or train with a single GPU:

python3 extra_tools/train.py ${CFG_FILE}

Evaluation

You can evaluate the model following the instructions. For example, to launch UVTR evaluation with a pretrained checkpoint on multi GPUs, one should execute:

bash extra_tools/dist_test.sh ${CFG_FILE} ${CKPT} ${NUM_GPUS} --eval=bbox

or evaluate with a single GPU:

python3 extra_tools/test.py ${CFG_FILE} ${CKPT} --eval=bbox

nuScenes 3D Object Detection Results

We provide results on nuScenes val set with pretrained models. | | NDS(%) | mAP(%) | mATE↓ | mASE↓ | mAOE↓ | mAVE↓ | mAAE↓ | download | |---------------------------------------------|:-------:|:-------:|:-------:|:---------:|:---------:|:---------:|:---------:|:---------:| | Camera-based | | UVTR-C-R50-H5 | 40.1 | 31.3 | 0.810 | 0.281 | 0.486 | 0.793 | 0.187 | GoogleDrive | | UVTR-C-R50-H11 | 41.8 | 33.3 | 0.795 | 0.276 | 0.452 | 0.761 | 0.196 | GoogleDrive | | UVTR-C-R101 | 44.1 | 36.1 | 0.761 | 0.271 | 0.409 | 0.756 | 0.203 | GoogleDrive | | UVTR-CS-R50 | 47.2 | 36.2 | 0.756 | 0.276 | 0.399 | 0.467 | 0.189 | GoogleDrive | | UVTR-CS-R101 | 48.3 | 37.9 | 0.739 | 0.267 | 0.350 | 0.510 | 0.200 | GoogleDrive | | UVTR-L2C-R101 | 45.0 | 37.2 | 0.735 | 0.269 | 0.397 | 0.761 | 0.193 | GoogleDrive | | UVTR-L2CS3-R101 | 48.8 | 39.2 | 0.720 | 0.268 | 0.354 | 0.534 | 0.206 | GoogleDrive | | LiDAR-based | | UVTR-L-V0075 | 67.6 | 60.8 | 0.335 | 0.257 | 0.303 | 0.206 | 0.183 | GoogleDrive | | Multi-modality | | UVTR-M-V0075-R101 | 70.2 | 65.4 | 0.333 | 0.258 | 0.270 | 0.216 | 0.176 | GoogleDrive |

Acknowledgement

We would like to thank the authors of mmDetection3D and DETR3D for their open-source release.

License

UVTR is released under the Apache 2.0 license.

<a name="CitingUVTR"></a>Citing UVTR

Consider cite UVTR in your publications if it helps your research.

@inproceedings{li2022uvtr,
  title={Unifying Voxel-based Representation with Transformer for 3D Object Detection},
  author={Li, Yanwei and Chen, Yilun and Qi, Xiaojuan and Li, Zeming and Sun, Jian and Jia, Jiaya},
  booktitle={Advances in Neural Information Processing Systems},
  year={2022}
}