🔥 We release the code of CTRL, the first open-sourced LiDAR-based auto-labeling system. See ctrl_instruction.
🔥 We release FSDv2. Better performance, easier use! Support Waymo, nuScenes, and Argoverse 2. See fsdv2_instruction.
This repo contains official implementations of our series of work in LiDAR-based 3D object detection:
- Embracing Single Stride 3D Object Detector with Sparse Transformer (CVPR 2022).
- Fully Sparse 3D Object Detection (NeurIPS 2022).
- Super Sparse 3D Object Detection (TPAMI 2023).
- Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection (ICCV 2023, Oral).
- FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels.
Users could follow the instructions in docs to use this repo.
NEWS
- [23-08-08] The code of FSDv2 is merged into this repo.
- [23-07-14] CTRL is aceepted at ICCV 2023.
- [23-06-21] The code of FSD++ (TPAMI version of FSD) is released.
- [23-06-19] The code of CTRL is released.
- [23-03-21] The Argoverse 2 model of FSD is released. See instructions.
- [22-09-19] The code of FSD is released here.
- [22-09-15] FSD is accepted at NeurIPS 2022.
- [22-03-02] SST is accepted at CVPR 2022.
- [21-12-10] The code of SST is released.
Citation
Please consider citing our work as follows if it is helpful.
Since FSD++ (TPAMI version) is accidentally excluded in Google Scholar search results, if possible, please kindly use the following bibtex.
@inproceedings{fan2022embracing,
title={{Embracing Single Stride 3D Object Detector with Sparse Transformer}},
author={Fan, Lue and Pang, Ziqi and Zhang, Tianyuan and Wang, Yu-Xiong and Zhao, Hang and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},
booktitle={CVPR},
year={2022}
}
@inproceedings{fan2022fully,
title={{Fully Sparse 3D Object Detection}},
author={Fan, Lue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},
booktitle={NeurIPS},
year={2022}
}
@article{fan2023super,
title={Super Sparse 3D Object Detection},
author={Fan, Lue and Yang, Yuxue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
year={2023}
}
@inproceedings{fan2023once,
title={Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection},
author={Fan, Lue and Yang, Yuxue and Mao, Yiming and Wang, Feng and Chen, Yuntao and Wang, Naiyan and Zhang, Zhaoxiang},
booktitle={ICCV},
year={2023}
}
@article{fan2023fsdv2,
title={FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels},
author={Fan, Lue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},
journal={arXiv preprint arXiv:2308.03755},
year={2023}
}
Acknowledgments
This project is based on the following codebases.
Thank the authors of CenterPoint for providing their detailed results.