Graph-DETR3D
Rethinking Overlapping Regions for Multi-View 3D Object Detection
Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, Feng Zhao.
[ACM MM 2022 Paper]
Usage
Train
./tools/dist_train.sh projects/configs/graphdetr3d/graphdetr3d_res50_gridmask_cbgs_fullset_1x.py 8
Infer
./tools/dist_test.sh projects/configs/graphdetr3d/graphdetr3d_res50_gridmask_cbgs_fullset_1x.py work_dirs/graphdetr3d_res50_gridmask_cbgs_fullset_1x/epoch_12.pth 8 --eval bbox
Performance
Nuscenes Validation Set
| Model | mAP | NDS |
|---|---|---|
| DETR3D | 33.6 | 41.4 |
| Graph-DETR3D | 35.1 | 43.3 |
Nuscenes Test Leaderboard
| Model | mAP | NDS |
|---|---|---|
| DETR3D | 41.2 | 47.9 |
| Graph-DETR3D | 42.5 | 49.5 |
Citation
If you find our work useful for your research, please consider citing the paper
@article{chen2022graph,
title={Graph-DETR3D: Rethinking Overlapping Regions for Multi-View 3D Object Detection},
author={Chen, Zehui and Li, Zhenyu and Zhang, Shiquan and Fang, Liangji and Jiang, Qinhong and Zhao, Feng},
journal={ACM MM},
year={2022}
}