This is the official implementation of VoxelNeXt (CVPR 2023). VoxelNeXt is a clean, simple, and fully-sparse 3D object detector. The core idea is to predict objects directly upon sparse voxel features. No sparse-to-dense conversion, anchors, or center proxies are needed anymore. For more details, please refer to:
VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking [Paper]
Yukang Chen, Jianhui Liu, Xiangyu Zhang, Xiaojuan Qi, Jiaya Jia
nuScenes Detection | Set | mAP | NDS | Download |
---|---|---|---|---|
VoxelNeXt | val | 60.5 | 66.6 | Pre-trained |
VoxelNeXt | test | 64.5 | 70.0 | Submission |
+double-flip | test | 66.2 | 71.4 | Submission |
nuScenes Tracking | Set | AMOTA | AMOTP | Download |
---|---|---|---|---|
VoxelNeXt | val | 70.2 | 64.0 | Results |
VoxelNeXt | test | 69.5 | 56.8 | Submission |
+double-flip | test | 71.0 | 51.1 | Submission |
Argoverse2 | mAP | Download |
---|---|---|
VoxelNeXt | 30.5 | Pre-trained |
Waymo | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 |
---|---|---|---|---|---|---|
VoxelNeXt-2D | 77.94/77.47 | 69.68/69.25 | 80.24/73.47 | 72.23/65.88 | 73.33/72.20 | 70.66/69.56 |
VoxelNeXt-K3 | 78.16/77.70 | 69.86/69.42 | 81.47/76.30 | 73.48/68.63 | 76.06/74.90 | 73.29/72.18 |
https://github.com/dvlab-research/VoxelNeXt && cd VoxelNeXt
Following the install documents for OpenPCDet.
For nuScenes, Waymo, and Argoverse2 datasets, please follow the document in OpenPCDet.
We provide the trained weight file so you can just run with that. You can also use the model you trained.
cd tools
bash scripts/dist_test.sh NUM_GPUS --cfg_file PATH_TO_CONFIG_FILE --ckpt PATH_TO_MODEL
#For example,
bash scripts/dist_test.sh 8 --cfg_file PATH_TO_CONFIG_FILE --ckpt PATH_TO_MODEL
bash scripts/dist_train.sh NUM_GPUS --cfg_file PATH_TO_CONFIG_FILE
#For example,
bash scripts/dist_train.sh 8 --cfg_file PATH_TO_CONFIG_FILE
If you find this project useful in your research, please consider citing:
@inproceedings{chen2023voxenext,
title={VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking},
author={Yukang Chen and Jianhui Liu and Xiangyu Zhang and Xiaojuan Qi and Jiaya Jia},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year={2023}
}
An introduction video on YouTube can be found here.
This project is released under the Apache 2.0 license.