| Collections: | |
| - Name: PointPillars | |
| Metadata: | |
| Training Techniques: | |
| - AdamW | |
| Architecture: | |
| - Feature Pyramid Network | |
| Paper: | |
| URL: https://arxiv.org/abs/1812.05784 | |
| Title: 'PointPillars: Fast Encoders for Object Detection from Point Clouds' | |
| README: configs/pointpillars/README.md | |
| Code: | |
| URL: https://github.com/open-mmlab/mmdetection3d/blob/master/mmdet3d/models/voxel_encoders/pillar_encoder.py#L13 | |
| Version: v0.6.0 | |
| Models: | |
| - Name: pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_8xb6-160e_kitti-3d-car.py | |
| Metadata: | |
| Training Data: KITTI | |
| Training Memory (GB): 5.4 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: KITTI | |
| Metrics: | |
| AP: 77.6 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car/hv_pointpillars_secfpn_6x8_160e_kitti-3d-car_20220331_134606-d42d15ed.pth | |
| - Name: pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class | |
| Alias: pointpillars_kitti-3class | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py | |
| Metadata: | |
| Training Data: KITTI | |
| Training Memory (GB): 5.5 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: KITTI | |
| Metrics: | |
| AP: 64.07 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class/hv_pointpillars_secfpn_6x8_160e_kitti-3d-3class_20220301_150306-37dc2420.pth | |
| - Name: pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py | |
| Metadata: | |
| Training Data: nuScenes | |
| Training Memory (GB): 16.4 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: nuScenes | |
| Metrics: | |
| mAP: 34.33 | |
| NDS: 49.1 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_4x8_2x_nus-3d_20210826_225857-f19d00a3.pth | |
| - Name: pointpillars_hv_secfpn_sbn-all_8xb4-amp-2x_nus-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_8xb4-amp-2x_nus-3d.py | |
| Metadata: | |
| Training Techniques: | |
| - AdamW | |
| - Mixed Precision Training | |
| Training Resources: 8x TITAN Xp | |
| Architecture: | |
| - Hard Voxelization | |
| Training Data: nuScenes | |
| Training Memory (GB): 8.37 | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: nuScenes | |
| Metrics: | |
| mAP: 35.19 | |
| NDS: 50.27 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d/hv_pointpillars_secfpn_sbn-all_fp16_2x8_2x_nus-3d_20201020_222626-c3f0483e.pth | |
| Code: | |
| Version: v0.7.0 | |
| - Name: pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py | |
| Metadata: | |
| Training Data: nuScenes | |
| Training Memory (GB): 16.3 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: nuScenes | |
| Metrics: | |
| mAP: 39.71 | |
| NDS: 53.15 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20210826_104936-fca299c1.pth | |
| - Name: pointpillars_hv_fpn_sbn-all_8xb4-amp-2x_nus-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_fpn_sbn-all_8xb4-amp-2x_nus-3d.py | |
| Metadata: | |
| Training Techniques: | |
| - AdamW | |
| - Mixed Precision Training | |
| Training Resources: 8x TITAN Xp | |
| Architecture: | |
| - Hard Voxelization | |
| Training Data: nuScenes | |
| Training Memory (GB): 8.40 | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: nuScenes | |
| Metrics: | |
| mAP: 39.26 | |
| NDS: 53.26 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_fp16_2x8_2x_nus-3d_20201021_120719-269f9dd6.pth | |
| Code: | |
| Version: v0.7.0 | |
| - Name: pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_8xb2-2x_lyft-3d.py | |
| Metadata: | |
| Training Data: Lyft | |
| Training Memory (GB): 12.2 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Lyft | |
| Metrics: | |
| Private Score: 13.8 | |
| Public Score: 14.1 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d/hv_pointpillars_secfpn_sbn-all_2x8_2x_lyft-3d_20210829_100455-82b81c39.pth | |
| - Name: pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_fpn_sbn-all_8xb2-2x_lyft-3d.py | |
| Metadata: | |
| Training Data: Lyft | |
| Training Memory (GB): 9.2 | |
| Training Resources: 8x V100 GPUs | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Lyft | |
| Metrics: | |
| Private Score: 14.0 | |
| Public Score: 15.0 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d/hv_pointpillars_fpn_sbn-all_2x8_2x_lyft-3d_20210822_095429-0b3d6196.pth | |
| - Name: pointpillars_hv_secfpn_sbn_2x16_2x_waymoD5-3d-car | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn_2x16_2x_waymoD5-3d-car.py | |
| Metadata: | |
| Training Data: Waymo | |
| Training Memory (GB): 7.76 | |
| Training Resources: 8x GeForce GTX 1080 Ti | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Waymo | |
| Metrics: | |
| mAP@L1: 70.2 | |
| mAPH@L1: 69.6 | |
| mAP@L2: 62.6 | |
| mAPH@L2: 62.1 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-car_20200901_204315-302fc3e7.pth | |
| - Name: pointpillars_hv_secfpn_sbn_2x16_2x_waymoD5-3d-3class | |
| Alias: pointpillars_waymod5-3class | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymoD5-3d-3class.py | |
| Metadata: | |
| Training Data: Waymo | |
| Training Memory (GB): 8.12 | |
| Training Resources: 8x GeForce GTX 1080 Ti | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Waymo | |
| Metrics: | |
| mAP@L1: 64.7 | |
| mAPH@L1: 57.6 | |
| mAP@L2: 58.4 | |
| mAPH@L2: 52.1 | |
| Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class/hv_pointpillars_secfpn_sbn_2x16_2x_waymoD5-3d-3class_20200831_204144-d1a706b1.pth | |
| - Name: pointpillars_hv_secfpn_sbn_2x16_2x_waymo-3d-car | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-car.py | |
| Metadata: | |
| Training Data: Waymo | |
| Training Memory (GB): 7.76 | |
| Training Resources: 8x GeForce GTX 1080 Ti | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Waymo | |
| Metrics: | |
| mAP@L1: 72.1 | |
| mAPH@L1: 71.5 | |
| mAP@L2: 63.6 | |
| mAPH@L2: 63.1 | |
| - Name: pointpillars_hv_secfpn_sbn_2x16_2x_waymo-3d-3class | |
| In Collection: PointPillars | |
| Config: configs/pointpillars/pointpillars_hv_secfpn_sbn-all_16xb2-2x_waymo-3d-3class.py | |
| Metadata: | |
| Training Data: Waymo | |
| Training Memory (GB): 8.12 | |
| Training Resources: 8x GeForce GTX 1080 Ti | |
| Results: | |
| - Task: 3D Object Detection | |
| Dataset: Waymo | |
| Metrics: | |
| mAP@L1: 68.8 | |
| mAPH@L1: 63.3 | |
| mAP@L2: 62.6 | |
| mAPH@L2: 57.6 | |