From ecd2176425dbf63b864a14ace32e139b6aaf1014 Mon Sep 17 00:00:00 2001 From: inter Date: Sun, 21 Sep 2025 20:19:31 +0800 Subject: [PATCH] Add File --- docs/guidelines_of_approaches/bevfusion.md | 35 ++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 docs/guidelines_of_approaches/bevfusion.md diff --git a/docs/guidelines_of_approaches/bevfusion.md b/docs/guidelines_of_approaches/bevfusion.md new file mode 100644 index 0000000..ef3b427 --- /dev/null +++ b/docs/guidelines_of_approaches/bevfusion.md @@ -0,0 +1,35 @@ + +## Installation + +Please refer to [INSTALL.md](../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](../GETTING_STARTED.md) to process the multi-modal Nuscenes Dataset. + +## Training + +1. Train the lidar branch for BEVFusion: +```shell +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](https://drive.google.com/file/d/1cuZ2qdDnxSwTCsiXWwbqCGF-uoazTXbz/view?usp=share_link). + +2. To train BEVFusion, you need to download pretrained parameters for image backbone [here](https://drive.google.com/file/d/1v74WCt4_5ubjO7PciA5T0xhQc9bz_jZu/view?usp=share_link), and specify the path in [config](../../tools/cfgs/nuscenes_models/bevfusion.yaml#L88). Then run the following command: +```shell +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: +```shell +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](../../tools/cfgs/nuscenes_models/transfusion_lidar.yaml) | 27.96 | 25.37 | 29.35 | 27.31 | 18.55 | 64.58 | 69.43 | [model-32M](https://drive.google.com/file/d/1cuZ2qdDnxSwTCsiXWwbqCGF-uoazTXbz/view?usp=share_link) | +| [BEVFusion](../../tools/cfgs/nuscenes_models/bevfusion.yaml) | 28.03 | 25.43 | 30.19 | 26.76 | 18.48 | 67.75 | 70.98 | [model-157M](https://drive.google.com/file/d/1X50b-8immqlqD8VPAUkSKI0Ls-4k37g9/view?usp=share_link) |