SODFormer: Streaming Object Detection with Transformers Using Events and Frames

July 21, 2023 · View on GitHub

This is the official implementation of SODFormer, a novel multimodal streaming object detector with transformers. For more details, please refer to:

SODFormer: Streaming Object Detection with Transformers Using Events and Frames
Dianze Li, Jianing Li, and Yonghong Tian, Fellow, IEEE

Setup

This code has been tested with Python 3.9, Pytorch 1.7, CUDA 10.1 and cuDNN 7.6.3 on Ubuntu 16.04.

Clone the repository

git clone --depth=1 https://github.com/dianzl/SODFormer.git && cd SODFormer

Setup python environment

We recommend you to use Anaconda to create a conda environment:

conda create -n sodformer python=3.9 pip
source activate sodformer

Install pytorch

conda install pytorch==1.7.1 torchvision==0.8.2 torchaudio==0.7.2 cudatoolkit=10.1 -c pytorch

Other requirements

pip install -r requirements.txt

Compiling CUDA operators

cd ./models/ops
sh ./make.sh
# unit test (should see all checking is True)
python test.py

Data preparation

Please download PKU-DAVIS-SOD Dataset and organize them as follows:

code_root/
└── data/
    ├── raw/
        ├── train/
        ├── val/
        ├── test/
            ├── normal/
                └── 001_test_normal.aedat4
            ├── low_light/
            └── motion_blur/
    └── annotations/
        ├── train/
        ├── val/
        └── test/

For the purpose of saving memory and accelerate data reading, we first convert the raw .aedat4 files to synrhronous frames (.png) and events (.npy) as follows:

python ./data/davis346_temporal_event_to_npy.py
python ./data/davis346_to_images.py

After running this two files, the data should be automatically organized as:

code_root/
└── data/
    ├── aps_frames/
        ├── train/
        ├── val/
        ├── test/
            ├── normal/
                └── 001_test_normal
                    └── 0.png
            ├── low_light/
            └── motion_blur/
    └── events_npys/
        ├── train/
        ├── val/
        └── test/
            ├── normal/
                └── 001_test_normal
                    └── 0.npy
            ├── low_light/
            └── motion_blur/

Usage

Training

Training on single node with single GPU

You can simply run

./configs/sodformer.sh

to train a model with our default parameters. The meaning of each parameter can be found in param.txt.

Training on single node with multi-GPUs

Our code also implements multi-GPUs training on single node. For example, the command for training SODFormer on 2 GPUs is as follows:

GPUS_PER_NODE=2 ./tools/run_dist_launch.sh 2 ./configs/sodformer.sh

Some tips to speed-up training

You may increase the batch size to maximize the GPU utilization, according to GPU memory of yours, e.g., set '--batch_size 4' or '--batch_size 8'.
Some computation involving MultiScaleDeformableAttention can be accelerated by setting batch size to integer power of 2 (e.g., 4, 8, etc.).

Evaluation

You can get the pretrained models of SODFormer (the link is in "Quantitative results" session), then run following command to evaluate it on PKU-DAVIS-SOD test dataset:

./configs/sodformer.sh --resume <path to pre-trained model> --eval

You can also run distributed evaluation by using

GPUS_PER_NODE=2 ./tools/run_dist_launch.sh 2 ./configs/sodformer.sh --resume <path to pre-trained model> --eval

Our code supports prediction of asynchronous streams of frame and event of one video. Similarly, we first generate asynchronous frames (.png) and events (.npy) from raw .aedat4 files (with 001_test_normal.aedat4 as instance):

python ./data/asyn_event_npy.py --scene normal --filename 001_test_normal.aedat4

After running the above command, the asynchronous data of 001_test_normal.aedat4 should be automatically organized as:

code_root/
└── data/
    └── asyn/
        ├── events_npys/
            └── test/
                └── normal/
                    └── 001_test_normal
                        └── 0.npy
        └── davis_images/
            └── test/
                └── normal/
                    └── 001_test_normal
                        └── 0.png

The asynchronous prediction and visualization can be done as follows:

./configs/prediction.sh --resume <path to pre-trained model> --scene normal --datasetname 1 --vis_dir <path to save prediction images>

Main results

Quantitative results

Modality	Method	Temporal cues	Input representation	AP $\_{50}$	Runtime (ms)	URL
Events	SSD-events	N	Event image	0.221	7.2	-
Events	NGA-events	N	Voxel grid	0.232	8.0	-
Events	Deformable DETR	N	Event image	0.307	21.6	e_nt
Events	Spatio-temporal Deformable DETR	Y	Event image	0.334	25.0	e_t
Frames	YOLOv3	N	RGB frame	0.426	7.9	-
Frames	LSTM-SSD	Y	RGB frame	0.456	22.4	-
Frames	Deformable DETR	N	RGB frame	0.461	21.5	f_nt
Frames	Spatio-temporal Deformable DETR	Y	RGB frame	0.489	24.9	f_t
Events + Frames	MFEPD	N	Event image + RGB frame	0.438	8.2	-
Events + Frames	JDF	N	Channel image + RGB frame	0.442	8.3	-
Events + Frames	SODFormer	Y	Voxel grid + RGB frame	0.491	41.5	-
Events + Frames	SODFormer	Y	Event image + RGB frame	0.504	39.7	SODFormer