Det3D
A general 3D Object Detection codebase in PyTorch
Introduction
Det3D is the first 3D Object Detection toolbox which provides off the box implementations of many 3D object detection algorithms such as PointPillars, SECOND, PIXOR, etc, as well as state-of-the-art methods on major benchmarks like KITTI(ViP) and nuScenes(CBGS). Key features of Det3D include the following aspects:
- Multi Datasets Support: KITTI, nuScenes, Lyft
- Point-based and Voxel-based model zoo
- State-of-the-art performance
- DDP & SyncBN
Installation
Please refer to INSTALL.md.
Quick Start
Please refer to GETTING_START.md.
Model Zoo and Baselines
We provide many baseline results and trained models. Please refer to MODEL_ZOO.md.
Currently Support
- Models
- VoxelNet
- SECOND
- PointPillars
- Features
- Multi task learning & Multi-task Learning
- Distributed Training and Validation
- SyncBN
- Flexible anchor dimensions
- TensorboardX
- Checkpointer & Breakpoint continue
- Self-contained visualization
- Finetune
- Multiscale Training & Validation
- Rotated RoI Align
TODO List
- Models
- PointRCNN
- PIXOR
Developers
License
Det3D is released under the MIT license.