A simple, fast, efficient and end-to-end 3D object detector without NMS.
| Method | backbone | mAP@0.25 | mAP@0.5 | Runtime (FPS) | Ckpt |
|---|---|---|---|---|---|
| VoteNet | PointNet++ | 62.9 | 39.9 | 10.8 | - |
| H3DNet | 4xPointNet++ | 67.2 | 48.1 | 4.4 | - |
| MLCVNet | PointNet++ | 64.5 | 41.4 | 6.7 | - |
| BRNet | PointNet++ | 66.1 | 50.9 | 8.7 | - |
| Group-Free | PointNet++ | 67.3 | 48.9 | 7.1 | - |
| Ours | PointNet++ | 66.2 | 53.5 | 13.5 | model_ckpt |
| Method | backbone | mAP@0.25 | mAP@0.5 | Ckpt |
|---|---|---|---|---|
| VoteNet | PointNet++ | 59.1 | 35.8 | - |
| H3DNet | 4xPointNet++ | 60.1 | 39.0 | - |
| MLCVNet | PointNet++ | 59.8 | - | - |
| BRNet | PointNet++ | 61.1 | 43.7 | - |
| Group-Free | PointNet++ | 63.0 | 45.2 | - |
| Ours | PointNet++ | 60.0 | 44.7 | model_ckpt |
The FPS is tested on a V100 GPU.
Our code will be released soon.
Our code is based on wonderful mmdetection3d. Very apperciate their works!
If you find this project useful in your research, please consider cite.