KiTTI Data Processing and 3D CNN for Vehicle Detection
3D CNN for Vehicle Detection
3D Fully Convolutional Network using PointCloud data for Vehicle Detection
Reference: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud
https://arxiv.org/pdf/1611.08069.pdf
Main File is "model_01_deconv.py"
Data Loading Function is "input_velodyne.py"
Example (3D Bounding Box:8 Vertices) Not executing NMS
Requirement
- Python
- tensorflow
- ROS
- Python-PCL (If you will not use pcl, please comment out related code in input_velodyne.py
KiTTI Data Processing
Dataset is KITTI 3D Object Detection Datasets
http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d
- Velodyne PointCloud
- training labels
- Calibration