This project has been accepted by IEEE ITSC 2022. If you find this work useful in your research, please consider cite:
@article{bai2022pillargrid,
title={PillarGrid: Deep Learning-based Cooperative Perception for 3D Object Detection from Onboard-Roadside LiDAR},
author={Bai, Zhengwei and Wu, Guoyuan and Barth, Matthew J and Liu, Yongkang and Sisbot, Akin and Oguchi, Kentaro},
journal={arXiv preprint arXiv:2203.06319},
year={2022}
}
CARLA-based 3D object detection and tracking dataset generator using KITTI-format
Please install CARLA==0.9.13
and MMDetection3D==0.18.0
- Linux (Ubuntu 18.04)
- Python 3.7
- PyTorch 1.3+
- CUDA 11.1
- GCC 5+
- MMCV
Download the CARLA 0.9.13 at Here
git clone https://github.com/zwbai/CARTI_Dataset.git
Run CARLA server
python CARTI_Dataset_V1.0.py
The required versions of MMCV, MMDetection and MMSegmentation for different versions of MMDetection3D are as below. Please install the correct version of MMCV, MMDetection and MMSegmentation to avoid installation issues.
MMDetection3D version | MMDetection version | MMSegmentation version | MMCV version |
---|---|---|---|
v1.0.0rc2 | mmdet>=2.19.0, <=3.0.0 | mmseg>=0.20.0, <=1.0.0 | mmcv-full>=1.4.8, <=1.7.0 |
0.18.0 | mmdet>=2.19.0, <=3.0.0 | mmseg>=0.20.0, <=1.0.0 | mmcv-full>=1.3.17, <=1.5.0 |
Assuming that you already have CUDA 11.0 installed, here is a full script for quick installation of MMDetection3D with conda. Otherwise, you should refer to the step-by-step installation instructions in the next section.
conda create -n open-mmlab python=3.7 -y
conda activate open-mmlab
pip install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html --no-cache
pip install mmcv-full==1.3.17 -f https://download.openmmlab.com/mmcv/dist/cu111/torch1.9.0/index.html
pip install mmdet==2.19.0
pip install mmsegmentation==0.20.0
pip install setuptools==59.5.0
git clone https://github.com/open-mmlab/mmdetection3d.git
git checkout tags/0.18.0
cd mmdetection3d
pip install -v -e .
pip install open3d
Do not forget to add ./checkpoints/{}.pth
and ./demo/data/kitti/{}.bin
python demo/pcd_demo.py demo/data/kitti/kitti_000008.bin configs/second/hv_second_secfpn_6x8_80e_kitti-3d-car.py checkpoints/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238-393f000c.pth --show
This repo is built based on the following outstanding works, which are greatly appreciated by the authors.