python自动驾驶代码_用于自动驾驶的3D对象检测代码

Aggregate View Object Detection

This repository contains the public release of the Python implementation of our Aggregate View Object Detection (AVOD) network for 3D object detection.

If you use this code, please cite our paper:

@article{ku2018joint,

title={Joint 3D Proposal Generation and Object Detection from View Aggregation},

author={Ku, Jason and Mozifian, Melissa and Lee, Jungwook and Harakeh, Ali and Waslander, Steven},

journal={IROS},

year={2018}

}

Videos

These videos show detections on several KITTI sequences and our own data in snowy and night driving conditions (with no additional training data).

AVOD Detections

AVOD-FPN Detections

KITTI Object Detection Results (3D and BEV)

AP-3D

AP-BEV

Method

Runtime

Easy

Moderate

Hard

Easy

Moderate

Hard

Car

MV3D

0.36

71.09

62.35

55.12

86.02

76.90

68.49

VoxelNet

0.23

77.47

65.11

57.73

89.35

79.26

77.39

F-PointNet

0.17

81.20

70.39

62.19

88.70

84.00

75.33

AVOD

0.08

73.59

65.78

58.38

86.80

85.44

77.73

AVOD-FPN

0.10

81.94

71.88

66.38

88.53

83.79

77.90

Pedestrian

VoxelNet

0.23

39.48

33.69

31.51

46.13

40.74

38.11

F-PointNet

0.17

51.21

44.89

40.23

58.09

50.22

47.20

AVOD

0.08

38.28

31.51

26.98

42.52

35.24

33.97

AVOD-FPN

0.10

50.80

42.81