Awesome
<div align="center"> <h1>SA-BEV</h1> <h3>[ICCV2023] SA-BEV: Generating Semantic-Aware Bird's-Eye-View Feature for Multi-view 3D Object Detection</h3> </div> <div align="center"> <img src="resources/sabev.png" width="800"/> </div><br/>News
- 2023.07.14 SA-BEV is accepted by ICCV 2023. The paper is available here.
Main Results
Config | mAP | NDS | Baidu | |
---|---|---|---|---|
SA-BEV-R50 | 35.5 | 46.7 | link | link |
SA-BEV-R50-MSCT | 37.0 | 48.8 | link | link |
SA-BEV-R50-MSCT-CBGS | 38.7 | 51.2 | link | link |
Get Started
1. Please follow these steps to install SA-BEV.
a. Create a conda virtual environment and activate it.
conda create -n sabev python=3.8 -y
conda activate sabev
b. Install PyTorch and torchvision following the official instructions.
pip install torch==1.10.0+cu111 torchvision==0.11.0+cu111 torchaudio==0.10.0 -f https://download.pytorch.org/whl/torch_stable.html
c. Install SA-BEV as mmdet3d.
pip install mmcv-full==1.5.3
pip install mmdet==2.27.0
pip install mmsegmentation==0.25.0
pip install -e .
2. Prepare nuScenes dataset as introduced in nuscenes_det.md and create the pkl for SA-BEV by running:
python tools/create_data_bevdet.py
3. Download nuScenes-lidarseg from nuScenes official site and put it under data/nuscenes/. Create depth and semantic labels from point cloud by running:
python tools/generate_point_label.py
4. Train and evalutate model following:
bash tools/dist_train.sh configs/sabev/sabev-r50.py 8 --no-validate
bash tools/dist_test.sh configs/sabev/sabev-r50.py work_dirs/sabev-r50/epoch_24_ema.pth 8 --eval bbox
Acknowledgement
This project is not possible without multiple great open-sourced code bases. We list some notable examples below.
Bibtex
If SA-BEV is helpful for your research, please consider citing the following BibTeX entry.
@article{zhang2023sabev,
title={SA-BEV: Generating Semantic-Aware Bird's-Eye-View Feature for Multi-view 3D Object Detection},
author={Jinqing, Zhang and Yanan, Zhang and Qingjie, Liu and Yunhong, Wang},
journal={arXiv preprint arXiv:2307.11477},
year={2023},
}