BEVDistill

Cross-Modal BEV Distillation for Multi-View 3D Object Detection

Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, Feng Zhao.

[Paper]

NOTE

This code is an initial release with BEVFormer-T only, we will release a full version in the future.

Run

# baseline
./tools/dist_train.sh projects/configs/video_bevformer/bevformer_128x128_r50_2x.py 8
# BEVDistill
./tools/dist_train_distill.sh projects/configs/bevdistill/bevdistill_r50_128x128_900query_bboxrweighttop100_bevgt_mocov2_merge_r1_2x.py 8

Performance

nuScenes Val set

Model	config	mAP	NDS
BEVFormer-R50		35.2	42.3
BEVDistill-R50		38.6	45.7
BEVFormer-T-R50	link	38.3	48.8
BEVDistill-T-R50	link	40.7	51.5
BEVFormer-T-R101	link	40.5	50.6
BEVDistill-T-R101	link	41.7	52.4

Pretrain Checkpoints

Model	Weight	mAP	NDS
ObjectDGCNN (Teacher)	link	67.4	61.5
FCOS3D r50 (Student)	link