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CenterPoint

3D Object Detection and Tracking using center points in the bird-eye view.

<p align="center"> <img src='docs/teaser.png' align="center" height="230px"> </p>

Center-based 3D Object Detection and Tracking,
Tianwei Yin, Xingyi Zhou, Philipp Krähenbühl,
arXiv technical report (arXiv 2006.11275)

@article{yin2021center,
  title={Center-based 3D Object Detection and Tracking},
  author={Yin, Tianwei and Zhou, Xingyi and Kr{\"a}henb{\"u}hl, Philipp},
  journal={CVPR},
  year={2021},
}

CenterPoint is also implemented in the official OpenPCDet repo and can reproduce results on nuScenes and Waymo.

This repo is an reimplementation of CenterPoint on the KITTI dataset. For nuScenes and Waymo, please refer to the original repo. Please refer to INSTALL.md for installation. We provide two configs, centerpoint.yaml for the vanilla centerpoint model and centerpoint_rcnn.yaml which combines centerpoint with PVRCNN.

Acknowledgement

Our code is based on OpenPCDet. Some util files are copied from mmdetection and mmdetection3d. Thanks OpenMMLab Development Team for their awesome codebases.