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Towards Efficient 3D Object Detection with Knowledge Distillation

Jihan Yang, Shaoshuai Shi, Runyu Ding, Zhe Wang, Xiaojuan Qi

This repository contains the official implementation of Towards Efficient 3D Object Detection with Knowledge Distillation, NeurIPS 2022

Changelog

[2022-09-] Code release for Waymo results.

Introduction

Our code is based on OpenPCDet v0.5.2. More updates on OpenPCDet are supposed to be compatible with our code.

Model Zoo

Waymo Open Dataset

Basic Models without KD

Similar to OpenPCDet, all models in the following table are trained with a single frame of 20% data (~32k frames) of all the training samples on 8 GTX 1080Ti GPUs. Note that the validation are also carried on the 20% validation set with DATA_CONFIG.SAMPLED_INTERVAL.test 5 (similar performance with 100% validation set).

Model (20% data)	LEVEL2 mAPH	Flops (G)	Acts (M)	Latency (ms)
CP-Voxel	64.29	114.8	101.9	125.70
CP-Voxel-S	62.23	47.8	65.7	97.99
CP-Voxel-XS	61.14	36.9	58.4	88.19
CP-Voxel-XXS	56.26	12.0	33.1	70.44
CP-Pillar	59.09	333.9	303.0	157.90
CP-Pillar-v0.4	57.55	212.9	197.7	103.37
CP-Pillar-v0.48	56.27	149.4	142.3	81.87
CP-Pillar-v0.64	52.81	85.1	88.0	54.52

Sparse Distillation Models

Model (20% data)	LEVEL2 mAPH	Gains
CP-Voxel-S + SparseKD	64.25	+2.0
CP-Voxel-XS + SparseKD	63.53	+2.4
CP-Voxel-XXS + SparseKD	59.28	+3.0
CP-Pillar-v0.4 + SparseKD	59.24	+1.7
CP-Pillar-v0.48 + SparseKD	58.53	+2.3
CP-Pillar-v0.64 + SparseKD	55.82	+3.0

Here we also provide the performance of several models trained on the full training set and validate on the full validation set.

Model (100% data)	LEVEL2 mAPH
CP-Voxel	65.58
CP-Pillar	61.56
PV-RCNN++	69.46
CP-Voxel-S + SparseKD	65.75
CP-Voxel-XS + SparseKD	64.83
CP-Voxel-XXS + SparseKD	60.93
CP-Pillar-v0.4 + SparseKD	61.60
CP-Pillar-v0.48 + SparseKD	60.95
CP-Pillar-v0.64 + SparseKD	58.89

Cross stage distillation

Model (20% data)	LEVEL2 mAPH	Flops (G)	Acts (M)	Latency (ms)
PV-RCNN++	67.80	123.5	179.7	435.9
CP-Voxel	64.29	114.8	101.9	125.7
CP-Voxel + SparseKd	65.27	114.8	101.9	125.7

We could not publicly provide the above pretrained models due to Waymo Dataset License Agreement. To access these pretrained models, please email us your name, institute, a screenshot of the Waymo dataset registration confirmation mail, and your intended usage. Please send a second email if we don't get back to you in two days. Please note that Waymo open dataset is under strict non-commercial license, so we are not allowed to share the model with you if it will use for any profit-oriented activities.

Latency on Different Hardware

latency

To facilitate further researches, we provide latency measured in milliseconds as follows:

Model	1060 + Spconv2.x	1080Ti + Spconv2.x	A100 + Spconv2.x
SECOND	84.56	50.65	40.44
PointPillar	129.12	68.61	44.14
CP-Voxel	125.70	74.25	56.13
CP-Voxel-S	97.99	65.68	39.40
CP-Voxel-XS	88.19	61.41	36.65
CP-Voxel-XXS	70.44	53.86	38.01
CP-Pillar	157.90	77.29	51.94
CP-Pillar-v0.4	103.37	56.32	57.07
CP-Pillar-v0.48	81.87	49.64	27.44
CP-Pillar-v0.64	54.52	36.23	19.56

Installation

Please refer to INSTALL.md for the installation of OpenPCDet.

Getting Started

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

License

Our code is released under the Apache 2.0 license.

Acknowledgement

Our code is heavily based on OpenPCDet. Thanks OpenPCDet Development Team for their awesome codebase.

Citation

If you find this project useful in your research, please consider cite:

@inproceedings{yang2022towards,
    title={Towards Efficient 3D Object Detection with Knowledge Distillation},
    author={Yang, Jihan and Shi, Shaoshuai and Ding, Runyu and Wang, Zhe and Qi, Xiaojuan},
    booktitle={Advances in Neural Information Processing Systems},
    year={2022}
}

@misc{openpcdet2020,
    title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
    author={OpenPCDet Development Team},
    howpublished = {\url{https://github.com/open-mmlab/OpenPCDet}},
    year={2020}
}