Mmdetection3d

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Introduction

MMDetection3D is an open source object detection toolbox based on PyTorch, towards the next-generation platform for general 3D detection. It is a part of the OpenMMLab project.

The main branch works with PyTorch 1.8+.

<details open> <summary>Major features</summary>

• Support multi-modality/single-modality detectors out of box

  It directly supports multi-modality/single-modality detectors including MVXNet, VoteNet, PointPillars, etc.

• Support indoor/outdoor 3D detection out of box

  It directly supports popular indoor and outdoor 3D detection datasets, including ScanNet, SUNRGB-D, Waymo, nuScenes, Lyft, and KITTI. For nuScenes dataset, we also support nuImages dataset.

• Natural integration with 2D detection

  All the about 300+ models, methods of 40+ papers, and modules supported in MMDetection can be trained or used in this codebase.

• High efficiency

  It trains faster than other codebases. The main results are as below. Details can be found in benchmark.md. We compare the number of samples trained per second (the higher, the better). The models that are not supported by other codebases are marked by ✗.

  | Methods | MMDetection3D | OpenPCDet | votenet | Det3D | | :-----------------: | :-----------: | :--------------------------------------------------: | :----------------------------------------------------: | :-----------------------------------------: | | VoteNet | 358 | ✗ | 77 | ✗ | | PointPillars-car | 141 | ✗ | ✗ | 140 | | PointPillars-3class | 107 | 44 | ✗ | ✗ | | SECOND | 40 | 30 | ✗ | ✗ | | Part-A2 | 17 | 14 | ✗ | ✗ |

</details>

Like MMDetection and MMCV, MMDetection3D can also be used as a library to support different projects on top of it.

What's New

Highlight

In version 1.4, MMDetecion3D refactors the Waymo dataset and accelerates the preprocessing, training/testing setup, and evaluation of Waymo dataset. We also extends the support for camera-based, such as Monocular and BEV, 3D object detection models on Waymo. A detailed description of the Waymo data information is provided here.

Besides, in version 1.4, MMDetection3D provides Waymo-mini to help community users get started with Waymo and use it for quick iterative development.

v1.4.0 was released in 8/1/2024：

• Support the training of DSVT in projects
• Support Nerf-Det in projects
• Refactor Waymo dataset

v1.3.0 was released in 18/10/2023:

• Support CENet in projects
• Enhance demos with new 3D inferencers

v1.2.0 was released in 4/7/2023

• Support New Config Type in mmdet3d/configs
• Support the inference of DSVT in projects
• Support downloading datasets from OpenDataLab using mim

v1.1.1 was released in 30/5/2023:

• Support TPVFormer in projects
• Support the training of BEVFusion in projects
• Support lidar-based 3D semantic segmentation benchmark

Installation

Please refer to Installation for installation instructions.

Getting Started

For detailed user guides and advanced guides, please refer to our documentation:

<details> <summary>User Guides</summary>

• Train & Test
  • Learn about Configs
  • Coordinate System
  • Dataset Preparation
  • Customize Data Pipelines
  • Test and Train on Standard Datasets
  • Inference
  • Train with Customized Datasets
• [Useful Tools](https://mmdetection3d.readthedocs.io/en/latest/user_guides/in