Home

Awesome

Voxel Mamba: Group-Free State Space Models for Point Cloud based 3D Object Detection

arXiv

This repo is the official implementation of NIPS24 paper Voxel Mamba: Group-Free State Space Models for Point Cloud based 3D Object Detection. Our Voxel Mamba achieves state-of-the-art performance on Waymo and nuScene datasets. It abandons the grouping operation and serializes voxels into one single sequence, enabling better efficiency.

🔥News

-[24-06-18] Voxel Mamba released on arxiv
-[24-07-01] Code of Waymo is released (SOTA).
-[24-09-26] Voxel Mamba is accepted by NIPS24 Spotlight!

📘TODO

🏆Main Results

Waymo Open Dataset

Validation set

ModelmAPH_L1mAPH_L2Veh_L1Veh_L2Ped_L1Ped_L2Cyc_L1Cyc_L2Log
Voxel Mamba79.673.680.8/80.372.6/72.285.0/80.877.7/73.678.6/77.675.7/74.8Log

Test set

ModelmAPH_L1mAPH_L2Veh_L1Veh_L2Ped_L1Ped_L2Cyc_L1Cyc_L2Leaderboard
Voxel Mamba79.674.384.4/84.077.0/76.684.8/80.679.0/74.975.4/74.372.6/71.5leaderboard

nuScene Dataset

Validation set

ModelmAPNDSmATEmASEmAOEmAVEmAAEckptLog
Voxel Mamba67.571.926.725.025.821.818.9ckptLog

Test set

ModelmAPNDSmATEmASEmAOEmAVEmAAELeaderboardSubmission
Voxel Mamba69.073.024.323.030.923.713.3leaderboardSubmission

Voxel Mamba's result on Waymo compared with other leading methods. All the experiments are evaluated on an NVIDIA A100 GPU with the same environment. We hope that our Voxel Mamba can provide a potential group-free solution for efficiently handling sparse point clouds for 3D tasks.

<div align="left"> <img src="docs/Speed_Performance.png" width="500"/> </div>

🚀Usage

Installation

Please refer to INSTALL.md for installation.

Dataset Preparation

Please follow the instructions from OpenPCDet. We adopt the same data generation process.

Generate Hilbert Template

cd data
mkdir hilbert
python ./tools/hilbert_curves/create_hilbert_curve_template.py

You can also download Hilbert Template files from Google Drive or BaiduYun(code: kubf).

Training

# multi-gpu training
cd tools
bash scripts/dist_train.sh 8 --cfg_file ./cfgs/voxel_mamba_models/voxel_mamba_waymo.yaml # for waymo

Test

# multi-gpu testing
cd tools
bash scripts/dist_test.sh 8 --cfg_file <CONFIG_FILE> --ckpt <CHECKPOINT_FILE>

Citation

Please consider citing our work as follows if it is helpful.

@article{zhang2024voxel,
  title={Voxel Mamba: Group-Free State Space Models for Point Cloud based 3D Object Detection},
  author={Zhang, Guowen and Fan, Lue and He, Chenhang and Lei, Zhen and Zhang, Zhaoxiang and Zhang, Lei},
  journal={arXiv preprint arXiv:2406.10700},
  year={2024}
}

Acknowledgments

Voxel Mamba is based on OpenPCDet and DSVT.
We also thank the CenterPoint, TransFusion, OctFormer, Mamba, and HEDNet authors for their efforts.