[CVPR 2023] FrustumFormer: Adaptive Instance-aware Resampling for Multi-view 3D Detection.

Authors: Yuqi Wang, Yuntao Chen, Zhaoxiang Zhang

Video, Paper

News

• [2023/3/26] We release the camera ready version.
• [2023/2/28] FrustumFormer was accepted by CVPR 2023.

Catalog

• Initialization

Getting Started

• Installation
• Dataset

Model Zoo

NuScenes Val

Backbone	Method	Epoch	Img	mAP	NDS	memroy	Config	Download
R101-DCN	FrustumFormer	24	640*1600	0.472	0.553	40G	Frustum_r101

NuScenes Test

Backbone	Method	Epoch	Img	mAP	NDS	memroy	Config	Download
VoV99	FrustumFormer	24	640*1600	0.530	0.595	40G	Frustum_vov99

Bibtex

If this work is helpful for your research, please consider citing the following BibTeX entry.

@inproceedings{wang2023frustumformer,
  title={FrustumFormer: Adaptive Instance-aware Resampling for Multi-view 3D Detection},
  author={Wang, Yuqi and Chen, Yuntao and Zhang, Zhaoxiang},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={5096--5105},
  year={2023}
}

Acknowledgement

Many thanks to the following open-source projects:

• mmdetection3d
• BEVFormer