Code release for our NeurIPS 2023 paper Uni3DETR: Unified 3D Detection Transformer
Zhenyu Wang, Yali Li, Xi Chen, Hengshuang Zhao, Shengjin Wang
This project provides an implementation for our NeurIPS 2023 paper "Uni3DETR: Unified 3D Detection Transformer" based on mmDetection3D. Uni3DETR provides a unified structure for both indoor and outdoor 3D object detection.
This project is based on mmDetection3D, which can be constructed as follows.
- Install mmDetection3D v1.0.0rc5 following the instructions.
- Copy our project and related files to installed mmDetection3D:
cp -r projects mmdetection3d/
cp -r extra_tools mmdetection3d/- Prepare the dataset following -----------
bash extra_tools/dist_train.sh ${CFG_FILE} ${NUM_GPUS}bash extra_tools/dist_test.sh ${CFG_FILE} ${CKPT} ${NUM_GPUS} --eval=bboxWe provide results on SUN RGB-D, ScanNet, KITTI, nuScenes with pretrained models (for Tab. 1, Tab. 2, Tab. 3 of our paper).
| Dataset | mAP (%) | download |
|---|---|---|
| indoor | ||
| SUN RGB-D | 67.0 | GoogleDrive |
| ScanNet | 71.7 | GoogleDrive |
| outdoor | ||
| KITTI (3 classes) | 86.57 (moderate car) | GoogleDrive |
| KITTI (car) | 86.74 (moderate car) | GoogleDrive |
| nuScenes | 61.7 | GoogleDrive |