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Name: Yining Shi
Type: User
Company: Tsinghua University
Location: Shanghai
Name: Yining Shi
Type: User
Company: Tsinghua University
Location: Shanghai
An open autonomous driving platform
Official code base for BEVDet.
This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.
The proposed approach enhances the CenterPoint baseline with a multimodal fusion mechanism. First, inspired by PointPainting, an off-the-shelf Mask-RCNN model trained from nuImages is employed to generate 2D object mask information based on the camera images. Furthermore, the Cylinder3D is also adopted to produce the 3D semantic information of the input LiDAR point cloud. Then, an improved version of CenterPoint takes the painted points(with 2D instance segmentation and 3D semantic segmentation) as inputs for accurate object detection. Specifically, we replace the RPN module in CenterPoint with modified Spatial-Semantic Feature Aggregation(SSFA) to well address multi-class detection. A simple pseudo labeling technique is also integrated in a semi-supervised learning manner. In addition, the Test Time Augmentation(TTA) strategy including multiple flip and rotation operations is applied during the inference time. Finally, the detections generated from multiple voxel resolutions (0.05m to 0.125m) are assembled with 3D Weighted Bounding Box Fusion(WBF) technique to produce the final results.
EFFOcc: A Minimal Baseline for EFficient Fusion-based 3D Occupancy Network
MMDet3D support for Once Dataset, Still in progress.
Large-scale Realistic 3D Lane Dataset
Official implementation of SRCN3D: Sparse R-CNN 3D Surround-View Cameras 3D Object Detection and Tracking for Autonomous Driving
(CVPR 2021) ST3D: Self-training for Unsupervised Domain Adaptation on 3D Object Detection
StreamingFlow: Streaming Occupancy Forecasting with Asynchronous Multi-modal Data Streams via Neural Ordinary Differential Equation
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A server is a program made to process requests and deliver data to clients.
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We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
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Data-Driven Documents codes.
China tencent open source team.