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<div align="center"> <h1> AutoAlignV2 </h1> <h3>Deformable Feature Aggregation for Dynamic Multi-Modal 3D Object Detection</h3> <br>Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, Feng Zhao. <br> <div><a href="https://arxiv.org/abs/2207.10316">[ECCV 2022 Paper] </a></div> <center> <img src='figs/framework.png'> </center> </div>

Performance

nuScenes Val set

ModelconfigmAPNDS
Baseline 1/8 subset--
AutoAlignV2 1/8 subset58.563.2

nuScenes Test Leaderboard

ModelmAPNDS
AutoAlign65.870.9
AutoAlignV268.472.4

Note

The code is released without rechecking. We will clean up and recheck the code recently.

Get Started

Install Deformable Ops from DeformDETR

cd ops
sh ./make.sh
# unit test (should see all checking is True)
python test.py

Prepare Dataset

python tools/create_data.py nuscenes --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes --version v1.0

Train Model

./tools/dist_train.sh aav2_cfg/centerpoint_voxel_nus_8subset_bs4_img1_nuimg_detach_deform_multipts.py 8

Test Model

./tools/dist_test.sh aav2_cfg/centerpoint_voxel_nus_8subset_bs4_img1_nuimg_detach_deform_multipts.py work_dirs/centerpoint_voxel_nus_8subset_bs4_img1_nuimg_detach_deform_multipts/epoch_20.pth 8 --eval bbox

Pretrained Model Weights

ModelWeights
Pretrained YOLOX-640https://drive.google.com/file/d/1DuA16ocF8Dmfl0nC3NNSKG_Yqq-aXuLH/view?usp=sharing
Pretrained YOLOX-800https://drive.google.com/file/d/1YPSjG38qXrV8gYlq5FuhQCjfRIUvhaju/view?usp=sharing
AutoAlignV2 1/8 subsethttps://drive.google.com/file/d/1F_B4bq5Y6QdkUHQbqeLaEGl-IZHHe1WB/view?usp=sharing

Citation

If you find our work useful for your research, please consider citing the paper

@article{chen2022autoalignv2,
  title={AutoAlignV2: Deformable Feature Aggregation for Dynamic Multi-Modal 3D Object Detection},
  author={Chen, Zehui and Li, Zhenyu and Zhang, Shiquan and Fang, Liangji and Jiang, Qinhong and Zhao, Feng},
  journal={ECCV},
  year={2022}
}