Indoor Object Detection
May 10, 2022 ยท View on GitHub
This repo contains the code and configuration files for indoor object detection.
Related Papers
- A Unified Query-based Paradigm for Point Cloud Understanding (paper)
Acknowledgements
- This implementation heavily relies on MMDetection3D. We thank the MMDetection3D team for providing such a well-organized codebase.
Results and Models
Note. All models below follow EQ-Paradigm and use a Q-Net to enable a free combination
between backbones and heads. (*) means the improvement compared to the model with its original backbone network without Q-Net.
ScanNet Dataset models
| Backbone | mAP@0.25 | mAP@0.5 | download | |
|---|---|---|---|---|
| VoteNet | PointNet++ (SSG) | 64.7 (+2.4) | 45.3 (+5.4) | model |
| GroupFree3d | PointNet++ (SSG) | 67.7 (+1.4) | 51.0 (+3.2) | model |
| VoteNet | SparseConvNet | 58.1 | 39.5 | model |
| GroupFree3d | SparseConvNet | 60.0 | 41.3 | model |
SUN RGB-D Dataset models
| Backbone | mAP@0.25 | mAP@0.5 | download | |
|---|---|---|---|---|
| VoteNet | PointNet++ (SSG) | 61.3 (+1.6) | 39.9 (+4.2) | model |
| VoteNet | SparseConvNet | 60.0 | 40.3 | model |
More models on other datasets
Models on other backbones and datasets will be released soon.
Getting Started
Data preprocessing
Please refer to MMDetection3D for data preparation before the first run.
Training
We take the VoteNet with PointNet++ (SSG) backbone on ScanNet dataset as an example here.
cd /path/to/DeepVision3D/MMDetection3D
# training configuration.
NUM_GPUS=4
CONFIG_FILE=configs/eq_paradigm/votenet/ptbased_backbone/eqvotenet_ptbased_backbone_scannet-3d-18class.py
# training script.
tools/dist_train.sh ${CONFIG_FILE} ${NUM_GPUS}
Testing
cd /path/to/DeepVision3D/MMDetection3D
# testing configuration.
NUM_GPUS=1
CONFIG_FILE=configs/eq_paradigm/votenet/ptbased_backbone/eqvotenet_ptbased_backbone_scannet-3d-18class.py
CHECKPOINT=/path/to/eqvotenet_ptbased_backbone_scannet-3d-18class.pth
# testing script.
bash tools/dist_test.sh ${CONFIG_FILE} ${CHECKPOINT} ${NUM_GPUS} --eval mAP