Person-MinkUNet

PyTorch implementation of Person-MinkUNet. Winner of JRDB 3D detection challenge in JRDB-ACT Workshop at CVPR 2021 [arXiv] [video] [leaderboard].

Prerequisite

• python>=3.8
• torchsparse==1.2.0 (link)
• PyTorch==1.6.0

Quick start

Download JackRabbot dataset under PROJECT/data/JRDB.

# install lidar_det project
python setup.py develop

# build libraries
cd lib/iou3d
python setup.py develop

cd ../jrdb_det3d_eval
python setup.py develop

Run

python bin/train.py --cfg PATH_TO_CFG [--ckpt PATH_TO_CKPT] [--evaluation]

Model zoo

Split	Checkpoint	Config
train	ckpt	cfg
train + val	ckpt	cfg

Acknowledgement

• torchsparse (link)
• PointRCNN (link)

Citation

@inproceedings{Jia2021PersonMinkUnet,
  title        = {{Person-MinkUNet: 3D Person Detection with LiDAR Point Cloud}},
  author       = {Dan Jia and Bastian Leibe},
  booktitle    = {Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)},
  year         = {2021}
}