hhy5277 / mmdetection3d

OpenMMLab's next-generation platform for general 3D object detection.

News: We released the codebase v0.1.0.

Documentation: https://mmdetection3d.readthedocs.io/

Introduction

The master branch works with PyTorch 1.3 to 1.5.

MMDetection3D is an open source object detection toolbox based on PyTorch, towards the next-generation platform for general 3D detection. It is a part of the OpenMMLab project developed by MMLab.

Major features

• Support multi-modality/single-modality detectors out of box

  It directly supports multi-modality/single-modality detectors including MVXNet, VoteNet, PointPillars, etc.

• Support indoor/outdoor 3D detection out of box

  It directly supports popular indoor and outdoor 3D detection datasets, including ScanNet, SUNRGB-D, nuScenes, Lyft, and KITTI.

• Natural integration with 2D detection

  All the about 40+ methods, 300+ models, and modules supported in MMDetection can be trained or used in this codebase.

• High efficiency

  It trains faster than other codebases. The main results are as below. Details can be found in benchmark.md. We compare the number of samples trained per second (the higher, the better). The models that are not supported by other codebases are marked by ×.

  Methods	MMDetection3D	OpenPCDet	votenet	Det3D
  VoteNet	358	×	77	×
  PointPillars-car	141	×	×	140
  PointPillars-3class	107	44	×	×
  SECOND	40	30	×	×
  Part-A2	17	14	×	×

Like MMDetection and MMCV, MMDetection3D can also be used as a library to support different projects on top of it.

License

This project is released under the Apache 2.0 license.

Changelog

v0.1.0 was released in 9/7/2020. Please refer to changelog.md for details and release history.

Benchmark and model zoo

Supported methods and backbones are shown in the below table. Results and models are available in the model zoo.

	ResNet	ResNeXt	SENet	PointNet++	HRNet	RegNetX	Res2Net
SECOND	☐	☐	☐	✗	☐	✓	☐
PointPillars	☐	☐	☐	✗	☐	✓	☐
FreeAnchor	☐	☐	☐	✗	☐	✓	☐
VoteNet	✗	✗	✗	✓	✗	✗	✗
Part-A2	☐	☐	☐	✗	☐	✓	☐
MVXNet	☐	☐	☐	✗	☐	✓	☐

Other features

• Dynamic Voxelization

Note: All the about 300 models, methods of 40+ papers in 2D detection supported by MMDetection can be trained or used in this codebase.

Installation

Please refer to install.md for installation and dataset preparation.

Get Started

Please see getting_started.md for the basic usage of MMDetection. There are also tutorials for finetuning models, adding new dataset, designing data pipeline, and adding new modules.

Contributing

We appreciate all contributions to improve MMDetection3D. Please refer to CONTRIBUTING.md for the contributing guideline.

Acknowledgement

MMDetection3D is an open source project that is contributed by researchers and engineers from various colleges and companies. We appreciate all the contributors as well as users who give valuable feedbacks. We wish that the toolbox and benchmark could serve the growing research community by providing a flexible toolkit to reimplement existing methods and develop their own new 3D detectors.