MonoGRNet: A Python repository from SpyderLord

MonoGRNet: A Geometric Reasoning Network for 3D Object Localization

This repository contains an implementation of our AAAI Oral Paper.

Video Demo

Detection Outputs on KITTI Validation Set

Please cite this paper if you find the repository helpful:

@article{qin2019monogrnet, 
  title={MonoGRNet: A Geometric Reasoning Network for 3D Object Localization}, 
  author={Zengyi Qin and Jinglu Wang and Yan Lu},
  journal={The Thirty-Third AAAI Conference on Artificial Intelligence (AAAI-19)},
  year={2019}
}

Prerequisites

Ubuntu 16.04
Python 2.7
Tensorflow 1.4.0

Dataset

Download the Kitti Object Detection Dataset and place it into data/KittiBox. The folder should be in the following structure:

data
    KittiBox
        training
            calib
            image_2
            label_2
        train.txt
        val.txt

The train-val split train.txt and val.txt are contained in this repository.

Install

Compile the Cython module and download the pretrained model:

python setup.py

Training and evaluation

Run the training script and specify the GPU to use:

python train.py --gpus 0

The evaluation is done during training. You can adjust the evaluation intervals in hypes/kittiBox.json.

Acknowledgement

We would like to thank the authors of KittiBox for their code.

SpyderLord/MonoGRNet