BEVDet

News

• 2023.11.08 Support DAL for 3D object detection with LiDAR-camera fusion. [Arxiv]

• History

Main Results

Nuscenes Detection

# align previous frame bev feature during the view transformation.

Depth: Depth supervised from Lidar as BEVDepth.

Longterm: cat 8 history frame in temporal modeling. 1 by default.

Stereo: A private implementation that concat cost-volumn with image feature before executing model.view_transformer.depth_net.

The latency includes Network/Post-Processing/Total. Training without CBGS is deprecated.

Nuscenes Occupancy

Inference latency with different backends

• Evaluate with BEVDet-R50-CBGS on a RTX 3090 GPU by default. We omit the postprocessing, which spends up to 5 ms with the PyTorch backend.

Get Started

Installation and Data Preparation

step 1. Please prepare environment as that in Docker.

step 2. Prepare bevdet repo by.

git clone https://github.com/HuangJunJie2017/BEVDet.git
cd BEVDet
pip install -v -e .

step 3. Prepare nuScenes dataset as introduced in nuscenes_det.md and create the pkl for BEVDet by running:

python tools/create_data_bevdet.py

step 4. For Occupancy Prediction task, download (only) the 'gts' from CVPR2023-3D-Occupancy-Prediction and arrange the folder as:

└── nuscenes
    ├── v1.0-trainval (existing)
    ├── sweeps  (existing)
    ├── samples (existing)
    └── gts (new)

Train model

# single gpu
python tools/train.py $config
# multiple gpu
./tools/dist_train.sh $config num_gpu

Test model

# single gpu
python tools/test.py $config $checkpoint --eval mAP
# multiple gpu
./tools/dist_test.sh $config $checkpoint num_gpu --eval mAP

Estimate the inference speed of BEVDet

# with pre-computation acceleration
python tools/analysis_tools/benchmark.py $config $checkpoint --fuse-conv-bn
# 4D with pre-computation acceleration
python tools/analysis_tools/benchmark_sequential.py $config $checkpoint --fuse-conv-bn
# view transformer only
python tools/analysis_tools/benchmark_view_transformer.py $config $checkpoint

Estimate the flops of BEVDet

python tools/analysis_tools/get_flops.py configs/bevdet/bevdet-r50.py --shape 256 704

Visualize the predicted result.

• Private implementation. (Visualization remotely/locally)

python tools/test.py $config $checkpoint --format-only --eval-options jsonfile_prefix=$savepath
python tools/analysis_tools/vis.py $savepath/pts_bbox/results_nusc.json

Convert to TensorRT and test inference speed.

1. install mmdeploy from https://github.com/HuangJunJie2017/mmdeploy
2. convert to TensorRT
python tools/convert_bevdet_to_TRT.py $config $checkpoint $work_dir --fuse-conv-bn --fp16 --int8
3. test inference speed
python tools/analysis_tools/benchmark_trt.py $config $engine

Acknowledgement

This project is not possible without multiple great open-sourced code bases. We list some notable examples below.

• open-mmlab
• CenterPoint
• Lift-Splat-Shoot
• Swin Transformer
• BEVFusion
• BEVDepth

Beside, there are some other attractive works extend the boundary of BEVDet.

• BEVerse for multi-task learning.
• BEVStereo for stero depth estimation.

Bibtex

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

@article{huang2023dal,
  title={Detecting As Labeling: Rethinking LiDAR-camera Fusion in 3D Object Detection},
  author={Huang, Junjie and Ye, Yun and Liang, Zhujin and Shan, Yi and Huang, Guan},
  journal={arXiv preprint arXiv:2311.07152},
  year={2023}
}

@article{huang2022bevpoolv2,
  title={BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment},
  author={Huang, Junjie and Huang, Guan},
  journal={arXiv preprint arXiv:2211.17111},
  year={2022}
}

@article{huang2022bevdet4d,
  title={BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection},
  author={Huang, Junjie and Huang, Guan},
  journal={arXiv preprint arXiv:2203.17054},
  year={2022}
}

@article{huang2021bevdet,
  title={BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View},
  author={Huang, Junjie and Huang, Guan and Zhu, Zheng and Yun, Ye and Du, Dalong},
  journal={arXiv preprint arXiv:2112.11790},
  year={2021}
}