H-PETR-3D
Main Results
| Model | Epoch | mAP | NDS | config | download |
|---|---|---|---|---|---|
| PETRv2 | 24epoch | 41.00% | 50.30% | config | model |
| H-PETRv2 | 24epoch | 41.93% | 51.23% | config | model |
| PETRv2 | 36epoch | 41.07% | 50.68% | config | model |
| H-PETRv2 | 36epoch | 42.59% | 52.38% | config | model |
Preparation
Please refer to PETR for environment and dataset preparation.
Train
tools/dist_train.sh projects/configs/petrv2/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800.py 8 --work-dir work_dirs/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800/Evaluation
tools/dist_test.sh projects/configs/petrv2/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800.py work_dirs/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800/latest.pth 8 --eval bboxModified files compared to vanilla PETRv2
To support Hybrid-branch
- projects/mmdet3d_plugin/models/dense_heads/hybrid_petrv2_head.py
- projects/mmdet3d_plugin/models/denseheads/__init_\.py
- projects/mmdet3d_plugin/models/utils/petr_transformer.py
- projects/configs/petrv2/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800.py
- projects/configs/petrv2/hybrid_petrv2_vovnet_gridmask_p4_800x320_lambda1_group4_t1800_ep36.py
Citation
@article{jia2022detrs,
title={DETRs with Hybrid Matching},
author={Jia, Ding and Yuan, Yuhui and He, Haodi and Wu, Xiaopei and Yu, Haojun and Lin, Weihong and Sun, Lei and Zhang, Chao and Hu, Han},
journal={arXiv preprint arXiv:2207.13080},
year={2022}
}
@article{liu2022petrv2,
title={PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images},
author={Liu, Yingfei and Yan, Junjie and Jia, Fan and Li, Shuailin and Gao, Qi and Wang, Tiancai and Zhang, Xiangyu and Sun, Jian},
journal={arXiv preprint arXiv:2206.01256},
year={2022}
}