diff --git a/.dev_scripts/test_benchmark.sh b/.dev_scripts/test_benchmark.sh index 2211aee9f2..d95a66c455 100644 --- a/.dev_scripts/test_benchmark.sh +++ b/.dev_scripts/test_benchmark.sh @@ -73,11 +73,11 @@ GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_test.sh $PARTITION dv_mvx-f $CHECKPOINT_DIR/configs/mvxnet/mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py/latest.pth --eval map \ 2>&1|tee $CHECKPOINT_DIR/configs/mvxnet/mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py/FULL_LOG.txt & -echo 'configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py' & -mkdir -p $CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py -GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_test.sh $PARTITION hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py \ -$CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/latest.pth --eval map \ -2>&1|tee $CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/FULL_LOG.txt & +echo 'configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py' & +mkdir -p $CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py +GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_test.sh $PARTITION hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py \ +$CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/latest.pth --eval map \ +2>&1|tee $CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/FULL_LOG.txt & echo 'configs/pointnet2/pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py' & mkdir -p $CHECKPOINT_DIR/configs/pointnet2/pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py diff --git a/.dev_scripts/train_benchmark.sh b/.dev_scripts/train_benchmark.sh index 102214aa9b..9efa320845 100644 --- a/.dev_scripts/train_benchmark.sh +++ b/.dev_scripts/train_benchmark.sh @@ -73,11 +73,11 @@ GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_train.sh $PARTITION dv_mvx- $CHECKPOINT_DIR/configs/mvxnet/mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py --cfg-options checkpoint_config.max_keep_ckpts=1 \ 2>&1|tee $CHECKPOINT_DIR/configs/mvxnet/mvxnet_fpn_dv_second_secfpn_8xb2-80e_kitti-3d-3class.py/FULL_LOG.txt & -echo 'configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py' & -mkdir -p $CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py -GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_train.sh $PARTITION hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py \ -$CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py --cfg-options checkpoint_config.max_keep_ckpts=1 \ -2>&1|tee $CHECKPOINT_DIR/configs/parta2/PartA2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/FULL_LOG.txt & +echo 'configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py' & +mkdir -p $CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py +GPUS=8 GPUS_PER_NODE=8 CPUS_PER_TASK=5 ./tools/slurm_train.sh $PARTITION hv_PartA2_secfpn_2x8_cyclic_80e_kitti-3d-3class configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py \ +$CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py --cfg-options checkpoint_config.max_keep_ckpts=1 \ +2>&1|tee $CHECKPOINT_DIR/configs/parta2/parta2_hv_secfpn_8xb2-cyclic-80e_kitti-3d-3class.py/FULL_LOG.txt & echo 'configs/pointnet2/pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py' & mkdir -p $CHECKPOINT_DIR/configs/pointnet2/pointnet2_msg_2xb16-cosine-80e_s3dis-seg.py diff --git a/configs/centerpoint/README.md b/configs/centerpoint/README.md index b76b8a6a44..5361df2035 100644 --- a/configs/centerpoint/README.md +++ b/configs/centerpoint/README.md @@ -104,23 +104,25 @@ data = dict( ### CenterPoint -| Backbone | Voxel type (voxel size) | Dcn | Circular nms | Mem (GB) | Inf time (fps) | mAP | NDS | Download | -| :----------------------------------------------------------------------------------------: | :---------------------: | :-: | :----------: | :------: | :------------: | :---: | :---: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| [SECFPN](./centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py) | voxel (0.1) | ✗ | ✓ | 4.9 | | 56.19 | 64.43 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210815_085857-9ba7f3a5.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210815_085857.log.json) | -| above w/o circle nms | voxel (0.1) | ✗ | ✗ | | | 56.56 | 64.46 | | -| [SECFPN](./centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py) | voxel (0.1) | ✓ | ✓ | 5.2 | | 56.34 | 64.81 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20210814_060754-c9d535d2.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20210814_060754.log.json) | -| above w/o circle nms | voxel (0.1) | ✓ | ✗ | | | 56.60 | 64.90 | | -| [SECFPN](./centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py) | voxel (0.075) | ✗ | ✓ | 7.8 | | 57.34 | 65.23 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210814_113418-76ae0cf0.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210814_113418.log.json) | -| above w/o circle nms | voxel (0.075) | ✗ | ✗ | | | 57.63 | 65.39 | | -| [SECFPN](./centerpoint_voxel0075-second-secfpn-head-dcn=circlenms_8xb4-cyclic-20e_nus.py) | voxel (0.075) | ✓ | ✓ | 8.5 | | 57.27 | 65.58 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20210827_161135-1782af3e.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20210827_161135.log.json) | -| above w/o circle nms | voxel (0.075) | ✓ | ✗ | | | 57.43 | 65.63 | | -| above w/ double flip | voxel (0.075) | ✓ | ✗ | | | 59.73 | 67.39 | | -| above w/ scale tta | voxel (0.075) | ✓ | ✗ | | | 60.43 | 67.65 | | -| above w/ circle nms w/o scale tta | voxel (0.075) | ✓ | ✗ | | | 59.52 | 67.24 | | -| [SECFPN](./centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py) | pillar (0.2) | ✗ | ✓ | 4.4 | | 49.07 | 59.66 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210816_064624-0f3299c0.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20210816_064624.log.json) | -| above w/o circle nms | pillar (0.2) | ✗ | ✗ | | | 49.12 | 59.66 | | -| [SECFPN](./centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py) | pillar (0.2) | ✓ | ✗ | 4.6 | | 48.8 | 59.67 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20210815_202702-f03ab9e4.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20210815_202702.log.json) | -| above w/ circle nms | pillar (0.2) | ✓ | ✓ | | | 48.79 | 59.65 | | +| Backbone | Voxel type (voxel size) | Dcn | Circular nms | Mem (GB) | Inf time (fps) | mAP | NDS | Download | +| :---------------------------------------------------------------------------------: | :---------------------: | :-: | :----------: | :------: | :------------: | :---: | :---: | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | +| [SECFPN](./centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py) | voxel (0.1) | ✗ | ✓ | 5.2 | | 56.11 | 64.61 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_030004-9061688e.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_030004.log) | +| above w/o circle nms | voxel (0.1) | ✗ | ✗ | | | x | x | | +| [SECFPN](./centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py) | voxel (0.1) | ✓ | ✓ | 5.5 | | 56.10 | 64.69 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_052355-a6928835.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_052355.log) | +| above w/o circle nms | voxel (0.1) | ✓ | ✗ | | | x | x | | +| [SECFPN](./centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus.py) | voxel (0.075) | ✗ | ✓ | 8.2 | | 56.54 | 65.17 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_011659-04cb3a3b.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_011659.log) | +| above w/o circle nms | voxel (0.075) | ✗ | ✗ | | | 57.63 | 65.39 | | +| [SECFPN](./centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus.py) | voxel (0.075) | ✓ | ✓ | 8.7 | | 56.92 | 65.27 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_025930-657f67e0.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_025930.log) | +| above w/o circle nms | voxel (0.075) | ✓ | ✗ | | | 57.43 | 65.63 | | +| above w/ double flip | voxel (0.075) | ✓ | ✗ | | | 59.73 | 67.39 | | +| above w/ scale tta | voxel (0.075) | ✓ | ✗ | | | 60.43 | 67.65 | | +| above w/ circle nms w/o scale tta | voxel (0.075) | ✓ | ✗ | | | 59.52 | 67.24 | | +| [SECFPN](./centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus.py) | pillar (0.2) | ✗ | ✓ | 4.6 | | 48.70 | 59.62 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220811_031844-191a3822.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220811_031844.log) | +| above w/o circle nms | pillar (0.2) | ✗ | ✗ | | | 49.12 | 59.66 | | +| [SECFPN](./centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus.py) | pillar (0.2) | ✓ | ✗ | 4.9 | | 48.38 | 59.79 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20220811_045458-808e69ad.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20220811_045458.log) | +| above w/ circle nms | pillar (0.2) | ✓ | ✓ | | | 48.79 | 59.65 | | + +**Note:** The model performance after coordinate refactor is slightly different (+/- 0.5 - 1 mAP/NDS) from the performance before coordinate refactor in v0.x branch. We are exploring the reason behind. | ## Citation diff --git a/configs/centerpoint/metafile.yml b/configs/centerpoint/metafile.yml index 6f36c8ea5d..aca5f7c7bb 100644 --- a/configs/centerpoint/metafile.yml +++ b/configs/centerpoint/metafile.yml @@ -16,80 +16,80 @@ Collections: Version: v0.6.0 Models: - - Name: centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus + - Name: centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_voxel01_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py - Metadata: - Training Memory (GB): 4.9 + metadata: + Training Memory (GB): 5.2 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 56.19 - NDS: 64.43 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20201001_135205-5db91e00.pth + mAP: 56.11 + NDS: 64.61 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_030004-9061688e.pth - - Name: centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus + - Name: centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_voxel01_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py Metadata: - Training Memory (GB): 5.2 + Training Memory (GB): 5.5 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 56.34 - NDS: 64.81 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20201004_075317-26d8176c.pth + mAP: 56.10 + NDS: 64.69 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_01voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_052355-a6928835.pth - - Name: centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus + - Name: centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_voxel0075_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py Metadata: - Training Memory (GB): 7.8 + Training Memory (GB): 8.2 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 57.34 - NDS: 65.23 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20200925_230905-358fbe3b.pth + mAP: 56.54 + NDS: 65.17 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220810_011659-04cb3a3b.pth - - Name: centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus + - Name: centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_voxel0075_second_secfpn_head-dcn-circlenms_8xb4-cyclic-20e_nus-3d.py Metadata: - Training Memory (GB): 8.5 + Training Memory (GB): 8.7 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 57.27 - NDS: 65.58 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20200930_201619-67c8496f.pth + mAP: 56.92 + NDS: 65.27 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus/centerpoint_0075voxel_second_secfpn_dcn_circlenms_4x8_cyclic_20e_nus_20220810_025930-657f67e0.pth - - Name: centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus + - Name: centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_pillar02_second_secfpn_head-circlenms_8xb4-cyclic-20e_nus-3d.py Metadata: - Training Memory (GB): 4.4 + Training Memory (GB): 4.6 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 49.07 - NDS: 59.66 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_01voxel_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20201004_170716-a134a233.pth + mAP: 48.70 + NDS: 59.62 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_circlenms_4x8_cyclic_20e_nus_20220811_031844-191a3822.pth - - Name: centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus + - Name: centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d In Collection: CenterPoint Config: configs/centerpoint/centerpoint_pillar02_second_secfpn_head-dcn_8xb4-cyclic-20e_nus-3d.py Metadata: - Training Memory (GB): 4.6 + Training Memory (GB): 4.9 Results: - Task: 3D Object Detection Dataset: nuScenes Metrics: - mAP: 48.8 - NDS: 59.67 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20200930_103722-3bb135f2.pth + mAP: 48.38 + NDS: 59.79 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/centerpoint/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus/centerpoint_02pillar_second_secfpn_dcn_4x8_cyclic_20e_nus_20220811_045458-808e69ad.pth diff --git a/configs/fcos3d/README.md b/configs/fcos3d/README.md index 5d1520f5cf..2088de8191 100644 --- a/configs/fcos3d/README.md +++ b/configs/fcos3d/README.md @@ -52,7 +52,7 @@ We also provide visualization functions to show the monocular 3D detection resul | Backbone | Lr schd | Mem (GB) | Inf time (fps) | mAP | NDS | Download | | :-------------------------------------------------------------------------------------: | :-----: | :------: | :------------: | :--: | :--: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| \[ResNet101 w/ DCN\](./fcos3d_r101-caffe- fpn-head-gn-dcn_8xb2-1x_nus-mono3d.py) | 1x | 8.69 | | 29.8 | 37.7 | [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210715_235813-4bed5239.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210715_235813.log.json) | +| \[ResNet101 w/ DCN\](./fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d.py) | 1x | 8.69 | | 29.8 | 37.7 | [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210715_235813-4bed5239.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210715_235813.log.json) | | [above w/ finetune](./fcos3d_r101-caffe-dcn_fpn_head-gn_8xb2-1x_nus-mono3d_finetune.py) | 1x | 8.69 | | 32.1 | 39.5 | [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune_20210717_095645-8d806dc2.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune_20210717_095645.log.json) | | above w/ tta | 1x | 8.69 | | 33.1 | 40.3 | | diff --git a/configs/fcos3d/metafile.yml b/configs/fcos3d/metafile.yml index 913b8b4176..a5fc343238 100644 --- a/configs/fcos3d/metafile.yml +++ b/configs/fcos3d/metafile.yml @@ -27,7 +27,7 @@ Models: Metrics: mAP: 29.9 NDS: 37.3 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210425_181341-8d5a21fe.pth + Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_20210715_235813-4bed5239.pth - Name: fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune In Collection: FCOS3D @@ -40,4 +40,4 @@ Models: Metrics: mAP: 32.1 NDS: 39.3 - Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune_20210427_091419-35aaaad0.pth + Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fcos3d/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune/fcos3d_r101_caffe_fpn_gn-head_dcn_2x8_1x_nus-mono3d_finetune_20210717_095645-8d806dc2.pth diff --git a/configs/free_anchor/metafile.yml b/configs/free_anchor/metafile.yml index 5eade0b464..10d9970d47 100644 --- a/configs/free_anchor/metafile.yml +++ b/configs/free_anchor/metafile.yml @@ -17,7 +17,20 @@ Collections: Version: v0.5.0 Models: - - Name: hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d + - Name: pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d + In Collection: FreeAnchor + Config: pointpillars/pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py + Metadata: + Training Memory (GB): 17.1 + Results: + - Task: 3D Object Detection + Dataset: nuScenes + Metrics: + mAP: 40.0 + NDS: 53.3 + Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d_20200620_230405-2fa62f3d.pth + + - Name: pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d In Collection: FreeAnchor Config: free_anchor/pointpillars_hv_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py Metadata: @@ -28,9 +41,22 @@ Models: Metrics: mAP: 43.82 NDS: 54.86 + Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/pointpillars/hv_pointpillars_fpn_sbn-all_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210816_163441-ae0897e7.pth + + - Name: pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d + In Collection: FreeAnchor + Config: configs/regnet/pointpillars_hv_regnet-400mf_fpn_sbn-all_8xb4-2x_nus-3d.py + Metadata: + Training Memory (GB): 17.3 + Results: + - Task: 3D Object Detection + Dataset: nuScenes + Metrics: + mAP: 44.8 + NDS: 56.4 Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210816_163441-ae0897e7.pth - - Name: hv_pointpillars_regnet-400mf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d + - Name: pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d In Collection: FreeAnchor Config: configs/free_anchor/pointpillars_hv_regnet-400mf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py Metadata: @@ -56,7 +82,7 @@ Models: NDS: 61.49 Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210828_025608-bfbd506e.pth - - Name: hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d + - Name: pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d In Collection: FreeAnchor Config: configs/free_anchor/pointpillars_hv_regnet-1.6gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py Metadata: @@ -69,7 +95,7 @@ Models: NDS: 62.45 Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d/hv_pointpillars_regnet-1.6gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d_20210827_184909-14d2dbd1.pth - - Name: hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d + - Name: pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d In Collection: FreeAnchor Config: configs/free_anchor/pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-2x_nus-3d.py Metadata: @@ -82,7 +108,7 @@ Models: NDS: 61.94 Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/free_anchor/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d/hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_4x8_2x_nus-3d_20210827_181237-e385c35a.pth - - Name: hv_pointpillars_regnet-3.2gf_fpn_sbn-all_free-anchor_strong-aug_4x8_3x_nus-3d + - Name: pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d In Collection: FreeAnchor Config: configs/free_anchor/pointpillars_hv_regnet-3.2gf_fpn_head-free-anchor_sbn-all_8xb4-strong-aug-3x_nus-3d.py Metadata: diff --git a/configs/monoflex/metafile.yml b/configs/monoflex/metafile.yml index c64dd6ffb9..36fe1f0af1 100644 --- a/configs/monoflex/metafile.yml +++ b/configs/monoflex/metafile.yml @@ -26,5 +26,5 @@ Models: - Task: 3D Object Detection Dataset: KITTI Metrics: - mAP: 21.98 + mAP: 21.86 Weights: https://download.openmmlab.com/mmdetection3d/v0.1.0_models/monoflex/monoflex_dla34_pytorch_dlaneck_gn-all_2x4_6x_kitti-mono3d_20211228_027553-d46d9bb0.pth diff --git a/configs/nuimages/README.md b/configs/nuimages/README.md index 47bb371f08..38612f1573 100644 --- a/configs/nuimages/README.md +++ b/configs/nuimages/README.md @@ -1,6 +1,16 @@ -# NuImages Results +# Mask R-CNN - +> [Mask R-CNN](https://arxiv.org/abs/1703.06870) + + + +## Abstract + +We present a conceptually simple, flexible, and general framework for object instance segmentation. Our approach efficiently detects objects in an image while simultaneously generating a high-quality segmentation mask for each instance. The method, called Mask R-CNN, extends Faster R-CNN by adding a branch for predicting an object mask in parallel with the existing branch for bounding box recognition. Mask R-CNN is simple to train and adds only a small overhead to Faster R-CNN, running at 5 fps. Moreover, Mask R-CNN is easy to generalize to other tasks, e.g., allowing us to estimate human poses in the same framework. We show top results in all three tracks of the COCO suite of challenges, including instance segmentation, bounding-box object detection, and person keypoint detection. Without bells and whistles, Mask R-CNN outperforms all existing, single-model entries on every task, including the COCO 2016 challenge winners. We hope our simple and effective approach will serve as a solid baseline and help ease future research in instance-level recognition. + +