Awesome
MonoCD: Monocular 3D Object Detection with Complementary Depths
<h5 align="center">Longfei Yan, Pei Yan, Shengzhou Xiong, Xuanyu Xiang, Yihua Tan
</h5>This repository includes an official implementation of the paper MonoCD: Monocular 3D Object Detection with Complementary Depths based on the excellent work MonoFlex. In this work, we first point out the coupling phenomenon that the existing multi-depth predictions have the tendency of predicted depths to consistently overestimate or underestimate the true depth values, which limits the accuracy of combined depth. We propose to increase the complementarity of depths to alleviate this problem.
Installation
git clone https://github.com/dragonfly606/MonoCD.git
cd MonoCD
conda create -n monocd python=3.7
conda activate monocd
conda install pytorch==1.4.0 torchvision==0.5.0 cudatoolkit=10.1 -c pytorch
pip install -r requirements.txt
cd model/backbone/DCNv2
sh make.sh
cd ../../..
python setup.py develop
Data Preparation
Please download KITTI dataset and organize the data as follows:
#ROOT
|training/
|calib/
|image_2/
|label/
|planes/
|ImageSets/
|testing/
|calib/
|image_2/
|ImageSets/
The road planes for Horizon Heatmap training could be downloaded from HERE. Then remember to set the DATA_DIR = "/path/to/your/kitti/"
in the config/paths_catalog.py
according to your data path.
Get Started
Train
Training with one GPU.
CUDA_VISIBLE_DEVICES=0 python tools/plain_train_net.py --batch_size 8 --config runs/monocd.yaml --output output/exp
Test
The model will be evaluated periodically during training and you can also evaluate an already trained checkpoint with
CUDA_VISIBLE_DEVICES=0 python tools/plain_train_net.py --config runs/monocd.yaml --ckpt YOUR_CKPT --eval
Model and log
We provide the trained model on KITTI and corresponding logs.
Models | AP40@Easy | AP40@Mod. | AP40@Hard | Logs/Ckpts |
---|---|---|---|---|
MonoFlex | 23.64 | 17.51 | 14.83 | - |
MonoFlex + Ours (paper) | 24.22 | 18.27 | 15.42 | - |
MonoFlex + Ours (reproduced) | 25.99 | 19.12 | 16.03 | log/ckpt |
Citation
If you find our work useful in your research, please consider giving us a star and citing:
@inproceedings{yan2024monocd,
title={MonoCD: Monocular 3D Object Detection with Complementary Depths},
author={Yan, Longfei and Yan, Pei and Xiong, Shengzhou and Xiang, Xuanyu and Tan, Yihua},
booktitle={CVPR},
pages={10248--10257},
year={2024}
}
Acknowledgement
This project benefits from awesome works of MonoFlex and MonoGround. Please also consider citing them.
Contact
If you have any questions about this project, please feel free to contact longfeiyan@hust.edu.cn.