This is the official implementation of MGTANet, a novel architecture for 3D object detection, which encodes LiDAR point cloud sequences acquired by multiple successive scans. The encoding process of the point cloud sequence is performed on two different time scales. We first design a short-term motion-aware voxel encoding that captures the short-term temporal changes of point clouds driven by the motion of objects in each voxel. We also propose long-term motion-guided bird's eye view (BEV) feature enhancement that adaptively aligns and aggregates the BEV feature maps obtained by the short-term voxel encoding by utilizing the dynamic motion context inferred from the sequence of the feature maps.
- Title: MGTANet: Encoding LiDAR Point Cloud Sequence Using Long Short-Term Motion-Guided Temporal Attention for 3D Object Detection [Paper]
- Author: Junho Koh*, Junhyung Lee*, Youngwoo Lee, Jaekyum Kim, Jun Won Choi (* indicates equal contribution)
- Conference: Accepted for the 37th AAAI Conference on Artificial Intelligence (AAAI), 2023.
- More details: [Homepage] [Paper]
- [2022.10.18] The code for MGTANet has been merged into the codebase Focals Conv
- [2022.11.19] The paper presenting MGTANet was accepted for AAAI2023
| mAP | NDS | download | |
|---|---|---|---|
| CenterPoint | 58.82 | 66.35 | centerpoint_wgt.pth |
| CenterPoint + SA-VFE (short-term) | 59.86 | 67.04 | centerpoint_sa_vfe_wgt.pth |
| CenterPoint + MGTANet | 64.80 | 70.60 | mgtanet_wgt.pth |
Visualization for comparing of CenterPoint and MGTANet
- The experiments are run with Pytorch 1.8.1, CUDA 11.1, and CuDNN 8.0
- The training is conducted on 4 Titan RTX 208
- Clone this repository
git clone https://github.com/HYjhkoh/MGTANet.git && cd MGTANet- Install the environment with Docker
We provide a Dockerfile to build an image
# build an image with Pytorch 1.8.1, CUDA 11.1
docker pull hyjhkoh/mgtanet:latestRun it with
sudo nvidia-docker run -it --ipc=host -v {MGTANET_DIR}:/mnt/MGTANet -v {DATASET_DIR}:/mnt/dataset/nuscenes/v1.0-trainval --shm-size=512g hyjhkoh/mgtanet:latest /bin/bash Install the requirements
cd {MGTANET_PATH} && sh setup.sh- Prepare the datasets
Download and organize the official nuScenes.
Create data
cd {MGTANET_PATH}/tools
python tools/create_data.py nuscenes_data_prep --root_path=NUSCENES_TRAINVAL_DATASET_ROOT --version="v1.0-trainval" --nsweeps=10*Note that we use sequential gt-sampling for training long-term model. Please download the additional database file
*Note that we conduct sequence data for training long-term model. Please download infos.pkl.
- Download pre-trained models
If you want to directly evaluate the trained models we provide, please download them first.
We provide the trained weight file, so you can just run with that. You can also use the model you trained.
# CONFIG = config file name
# WEIGHT_PATH = path for weight file
python -m torch.distributed.launch --nproc_per_node=1 ./tools/dist_test.py configs/nusc/mgtanet/$CONFIG.py --work_dir ./work_dirs/mgtanet/$CONFIG --checkpoint $WEIGHT_PATHCUDA_VISIBLE_DEVICES=0,1,2,3 python -m torch.distributed.launch --nproc_per_node=4 ./tools/train.py configs/nusc/voxelnet/$CONFIG.py- Note that we use 4 GPUs (Titan RTX 2080) to train models.
- Config files and scripts for the test augmentation (double flip) in nuScenes test submission.
- Results and models of MGTANet with online mode
- Develop the MGTANet to Sensor fusion
If you find this project useful in your research, please consider citing:
@article{mgtanet,
title={MGTANet: Encoding Sequential LiDAR Points Using Long Short-Term Motion-Guided Temporal Attention for 3D Object Detection},
author={Koh, Junho and Lee, Junhyung and Lee, Youngwoo and Kim, Jaekyum and Choi, Jun Won},
journal={arXiv preprint arXiv:2212.00442},
year={2022}
}- This work is built upon the CenterPoint. Please refer to the official github repositories, CenterPoint for more information.
- This README follows the style of Focals Conv.
This project is released under the Apache 2.0 license.
- spconv
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