CN-RMA: Combined Network with Ray Marching Aggregation for 3D Indoor Object Detection from Multi-view Images

This repository is an official implementation of CN-RMA.

Results

dataset	mAP@0.25	mAP@0.5	config
ScanNet	58.6	36.8	config
ARKit	67.6	56.5	config

Configuration, data processing and running the entire project is complicated. We provide all the detection results, visualization results and checkpoints of the validation set of the two datasets at Tsinghua Cloud. Since our preparing and training procedure is complicated, you can directly download our results for ScanNet and ARKitScenes, or directly use our pre-trained weights for ScanNet and ARKitScenes to validate.

Prepare

Environments

Linux, Python==3.8, CUDA == 11.3, pytorch == 1.10.0, mmdet3d == 0.15.0, MinkowskiEngine == 0.5.4

This implementation is built based on the mmdetection3d framework and can be constructed as the install.md.
Data

Follow the mmdet3d to process the ScanNet and ARKitScenes datasets. You can process those datasets following scannet.md and arkit.md.
Pretrained weights

The required pretrained weights are put at here.

After preparation, you will be able to see the following directory structure:

CN-RMA
├── mmdetection3d
├── projects
│   ├── configs
│   ├── mvsdetection
├── tools
├── data
│   ├── scannet
│   ├── arkit
├── doc
│   ├── install.md
│   ├── arkit.md
│   ├── scannet.md
│   ├── train_val.md
├── README.md
├── data_prepare
├── post_process
├── dist_test.sh
├── dist_train.sh
├── test.py
├── train.py

How to Run

To evaluate our method on ScanNet, you can download the final checkpoint, set the 'work_dir' of projects/configs/mvsdetection/ray_marching_scannet.py to your desired path, and run:

bash dist_test.sh projects/configs/mvsdetection/ray_marching_scannet.py {scannet_best.pth} 4

Similarly, to evaluate on ARKitScenes, you should download the final checkpoint, set the 'work_dir' of projects/configs/mvsdetection/ray_marching_arkit.py to your desired path, and run:

bash dist_test.sh projects/configs/mvsdetection/ray_marching_arkit.py {arkit_best.pth} 4

After this, you should do nms post-processing to the data by running:

python ./post_process/nms_bbox.py --result_path {your_work_dir}/results

The pc_det_nms do not always work very well, if it fails, just run it again and again....

You can then evaluate the results by running

./post_process/evaluate_bbox.py --dataset {arkit/scannet} --data_path {your_arkit_or_scannet_source_path} --result_path {your_work_dir}/results

And you can visualize the results by running

./post_process/visualize_results.py --dataset {arkit/scannet} --data_path {your_arkit_or_scannet_source_path} --save_path {your_work_dir}/results

if the nms fails, you can discover many bounding boxes very close to each other on the visualized results, then you can run the nms again.

Training the network from scratch is complicated. If you want to train the network from scratch, please follow train_val.md

Citation

If you find this project useful for your research, please consider citing:

//TODO

Contact