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bevfusion.md

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Installation

Please refer to INSTALL.md for the installation of OpenPCDet.

  • We recommend the users to check the version of pillow and use pillow==8.4.0 to avoid bug in bev pooling.

Data Preparation

Please refer to GETTING_STARTED.md to process the multi-modal Nuscenes Dataset.

Training

  1. Train the lidar branch for BEVFusion:
bash scripts/dist_train.sh ${NUM_GPUS} --cfg_file cfgs/nuscenes_models/transfusion_lidar.yaml \

The ckpt will be saved in ../output/nuscenes_models/transfusion_lidar/default/ckpt, or you can download pretrained checkpoint directly form here.

  1. To train BEVFusion, you need to download pretrained parameters for image backbone here, and specify the path in config. Then run the following command:
bash scripts/dist_train.sh ${NUM_GPUS} --cfg_file cfgs/nuscenes_models/bevfusion.yaml \
--pretrained_model path_to_pretrained_lidar_branch_ckpt \

Evaluation

  • Test with a pretrained model:
bash scripts/dist_test.sh ${NUM_GPUS} --cfg_file  cfgs/nuscenes_models/bevfusion.yaml \
--ckpt ../output/cfgs/nuscenes_models/bevfusion/default/ckpt/checkpoint_epoch_6.pth

Performance

All models are trained with spconv 1.0, but you can directly load them for testing regardless of the spconv version.

mATE mASE mAOE mAVE mAAE mAP NDS download
TransFusion-L 27.96 25.37 29.35 27.31 18.55 64.58 69.43 model-32M
BEVFusion 28.03 25.43 30.19 26.76 18.48 67.75 70.98 model-157M