Method

PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud (LiDAR only) [la] [PointRCNN]
https://github.com/sshaoshuai/PointRCNN

Submitted on 7 Feb. 2019 18:32 by
Shaoshuai Shi (CUHK)

Running time:0.1 s
Environment:GPU @ 2.5 Ghz (Python + C/C++)

Method Description:
See the paper, trained from scratch with 50/50
split.

Update: fix little bug, add results of pedestrian
and cyclist.

V1.0
submitted on 17 Nov. 2018
Car (Detection) 90.77% 89.75% 80.98%
Car (Orientation) 90.76% 89.55% 80.76%
Car (3D Detection) 84.32% 75.42% 67.86%
Car (Bird's Eye View) 89.28 % 86.04 % 79.02 %
Parameters:
See the paper and wait for the code release.
Latex Bibtex:
@inproceedings{shi2019pointrcnn,
title={PointRCNN: 3D Object Proposal Generation
and
Detection from Point Cloud},
author={Shi, Shaoshuai and Wang, Xiaogang and Li,
Hongsheng},
booktitle={CVPR},
year={2019}
}

Detailed Results

Object detection and orientation estimation results. Results for object detection are given in terms of average precision (AP) and results for joint object detection and orientation estimation are provided in terms of average orientation similarity (AOS).


Benchmark Easy Moderate Hard
Car (Detection) 90.74 % 89.32 % 85.73 %
Car (Orientation) 90.73 % 89.22 % 85.53 %
Car (3D Detection) 85.94 % 75.76 % 68.32 %
Car (Bird's Eye View) 89.47 % 85.68 % 79.10 %
Pedestrian (Detection) 59.05 % 50.88 % 48.46 %
Pedestrian (Orientation) 57.49 % 48.98 % 46.48 %
Pedestrian (3D Detection) 49.43 % 41.78 % 38.63 %
Pedestrian (Bird's Eye View) 55.92 % 47.53 % 44.67 %
Cyclist (Detection) 83.64 % 72.94 % 66.07 %
Cyclist (Orientation) 83.40 % 72.35 % 65.50 %
Cyclist (3D Detection) 73.93 % 59.60 % 53.59 %
Cyclist (Bird's Eye View) 81.52 % 66.77 % 60.78 %
This table as LaTeX


2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot



2D object detection results.
This figure as: png eps pdf txt gnuplot



Orientation estimation results.
This figure as: png eps pdf txt gnuplot



3D object detection results.
This figure as: png eps pdf txt gnuplot



Bird's eye view results.
This figure as: png eps pdf txt gnuplot




eXTReMe Tracker