detecion3d/configs/second

• Second: Sparsely embedded convolutional detection
• • Introduction
  • Results
  • • KITTI
    • Waymo

Second: Sparsely embedded convolutional detection

Introduction

We implement SECOND and provide the results and checkpoints on KITTI dataset.

@article{yan2018second,
  title={Second: Sparsely embedded convolutional detection},
  author={Yan, Yan and Mao, Yuxing and Li, Bo},
  journal={Sensors},
  year={2018},
  publisher={Multidisciplinary Digital Publishing Institute}
}

Results

KITTI

Backbone	Class	Lr schd	Mem (GB)	Inf time (fps)	mAP	Download
SECFPN	Car	cyclic 80e	5.4		79.07	model | log
SECFPN	3 Class	cyclic 80e	5.4		64.41	model | log

Waymo

Backbone	Load Interval	Class	Lr schd	Mem (GB)	Inf time (fps)	mAP@L1	mAPH@L1	mAP@L2	mAPH@L2	Download
SECFPN	5	3 Class	2x	8.12		65.3	61.7	58.9	55.7	log
above @ Car			2x	8.12		67.1	66.6	58.7	58.2
above @ Pedestrian			2x	8.12		68.1	59.1	59.5	51.5
above @ Cyclist			2x	8.12		60.7	59.5	58.4	57.3

Note: See more details about metrics and data split on Waymo HERE. For implementation details, we basically follow the original settings. All of these results are achieved without bells-and-whistles, e.g. ensemble, multi-scale training and test augmentation.