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[![arXiv](https://img.shields.io/badge/arXiv-Paper-<COLOR>.svg)](https://arxiv.org/abs/2204.12463) |
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![visitors](https://visitor-badge.glitch.me/badge?page_id=dvlab-research/FocalsConv) |
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# Focal Sparse Convolutional Networks for 3D Object Detection (CVPR 2022, Oral) |
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This is the official implementation of ***Focals Conv*** (CVPR 2022), a new sparse convolution design for 3D object detection (feasible for both lidar-only and multi-modal settings). For more details, please refer to: |
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**Focal Sparse Convolutional Networks for 3D Object Detection [[Paper](https://arxiv.org/abs/2204.12463)]** <br /> |
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Yukang Chen, Yanwei Li, Xiangyu Zhang, Jian Sun, Jiaya Jia<br /> |
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<p align="center"> <img src="https://github.com/dvlab-research/FocalsConv/blob/master/docs/imgs/FocalSparseConv23D.png" width="100%"> </p> |
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<p align="center"> <img src="https://github.com/dvlab-research/FocalsConv/blob/master/docs/imgs/FocalSparseConv_Pipeline.png" width="100%"> </p> |
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Visualization of voxel distribution of Focals Conv on KITTI val dataset: |
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<p align="center"> <img src="https://github.com/dvlab-research/FocalsConv/blob/master/docs/imgs/Sparsity_comparison_3pairs.png" width="100%"> </p> |
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## Citation |
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If you find this project useful in your research, please consider citing: |
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``` |
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@inproceedings{focalsconv-chen, |
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title={Focal Sparse Convolutional Networks for 3D Object Detection}, |
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author={Chen, Yukang and Li, Yanwei and Zhang, Xiangyu and Sun, Jian and Jia, Jiaya}, |
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booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition}, |
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year={2022} |
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} |
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``` |
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## License |
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This project is released under the [Apache 2.0 license](LICENSE). |