Official repository of "Towards Robust 3D Object Detection with LiDAR and 4D Radar Fusion in Various Weather Conditions", CVPR2024. [Paper]
The code has been tested with
- python 3.8
- CUDA 11.1
- pytorch 1.10.1
- spconv-cu111 2.1.25
- open3d 0.15.2
- opencv-python 4.8.1.78
- matplotlib 3.5.3
- numba 0.53.0
- nms 0.1.6
# Stage 1
python models/img_cls/cls_train.py
# Stage 2
python main_train_0.py
python main_cond_0.py
If you find our work helpful, please consider citing our paper:
@InProceedings{Chae_2024_CVPR,
author = {Chae, Yujeong and Kim, Hyeonseong and Yoon, Kuk-Jin},
title = {Towards Robust 3D Object Detection with LiDAR and 4D Radar Fusion in Various Weather Conditions},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2024},
pages = {15162-15172}
}
This work is developed based on the K-Radar dataset and codebase.