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metafile.yml
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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