From 10f22e4555a34e5ade1edc531d157132f62d07d1 Mon Sep 17 00:00:00 2001 From: JingweiZhang12 Date: Wed, 15 Feb 2023 23:39:25 +0800 Subject: [PATCH 1/5] add BN to avoid loss nan --- configs/mvxnet/README.md | 2 +- .../dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/configs/mvxnet/README.md b/configs/mvxnet/README.md index d786efa779..19ecccb490 100644 --- a/configs/mvxnet/README.md +++ b/configs/mvxnet/README.md @@ -22,7 +22,7 @@ We implement MVX-Net and provide its results and models on KITTI dataset. | Backbone | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP | Download | | :-------------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py) | 3 Class | cosine 80e | 6.7 | | 63.22 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805-83442923.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805.log.json) | +| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py) | 3 Class | cosine 40e | 6.7 | | 63.22 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805-83442923.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805.log.json) | ## Citation diff --git a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py index e9f592f5f5..9e20b90607 100644 --- a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py +++ b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py @@ -19,6 +19,7 @@ type='FPN', in_channels=[256, 512, 1024, 2048], out_channels=256, + norm_cfg=dict(type='BN', requires_grad=False), num_outs=5), pts_voxel_layer=dict( max_num_points=-1, From e7ea664d5d73d66e10991124d9b9bd7eb5e8e26c Mon Sep 17 00:00:00 2001 From: JingweiZhang12 Date: Wed, 15 Feb 2023 23:51:01 +0800 Subject: [PATCH 2/5] add comments about cfg --- .../dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py | 1 + 1 file changed, 1 insertion(+) diff --git a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py index 9e20b90607..2f67393b74 100644 --- a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py +++ b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py @@ -19,6 +19,7 @@ type='FPN', in_channels=[256, 512, 1024, 2048], out_channels=256, + # make the image features more stable numerically to avoid loss nan norm_cfg=dict(type='BN', requires_grad=False), num_outs=5), pts_voxel_layer=dict( From 87aea536ba4b1c5fc02ad4f0b7a65d395534ee8a Mon Sep 17 00:00:00 2001 From: JingweiZhang12 Date: Fri, 17 Feb 2023 11:01:41 +0800 Subject: [PATCH 3/5] update mvxnet configs and readme --- configs/mvxnet/README.md | 13 ++++++++++--- ..._second_secfpn_adamw_2x8_40e_kitti-3d-3class.py} | 0 configs/mvxnet/metafile.yml | 8 ++++---- 3 files changed, 14 insertions(+), 7 deletions(-) rename configs/mvxnet/{dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py => dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py} (100%) diff --git a/configs/mvxnet/README.md b/configs/mvxnet/README.md index 19ecccb490..cf4a6ce074 100644 --- a/configs/mvxnet/README.md +++ b/configs/mvxnet/README.md @@ -20,9 +20,16 @@ We implement MVX-Net and provide its results and models on KITTI dataset. ### KITTI -| Backbone | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP | Download | -| :-------------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py) | 3 Class | cosine 40e | 6.7 | | 63.22 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805-83442923.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805.log.json) | +| Backbone | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP11/mAP40 | Download | +| :-------------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | +| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py) | 3 Class | cosine 40e | 7.4 | | 63.3/63.0 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805-83442923.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805.log.json) | + +Detailed performance on KITTI 3D detection is as follows, evaluated by AP11 and AP40 metric: + +| | Easy | Moderate | Hard | +| --------- | :-----: | :------: | :-----: | +| 3d (AP11) | 72.6428 | 63.3217 | 59.6384 | +| 3d (AP40) | 73.8799 | 63.0147 | 59.1020 | ## Citation diff --git a/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py b/configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py similarity index 100% rename from configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py rename to configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py diff --git a/configs/mvxnet/metafile.yml b/configs/mvxnet/metafile.yml index 4ce10b7100..2431b0d7ec 100644 --- a/configs/mvxnet/metafile.yml +++ b/configs/mvxnet/metafile.yml @@ -17,14 +17,14 @@ Collections: Version: v0.5.0 Models: - - Name: dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class + - Name: dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class In Collection: MVX-Net - Config: configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class.py + Config: configs/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py Metadata: - Training Memory (GB): 6.7 + Training Memory (GB): 7.4 Results: - Task: 3D Object Detection Dataset: KITTI Metrics: mAP: 63.22 - Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_80e_kitti-3d-3class_20210831_060805-83442923.pth + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805-83442923.pth From 19c9a3768767bf8550d42d99baaa8e8e2446a657 Mon Sep 17 00:00:00 2001 From: JingweiZhang12 Date: Fri, 17 Feb 2023 20:33:15 +0800 Subject: [PATCH 4/5] update checkpoint and log --- configs/mvxnet/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/configs/mvxnet/README.md b/configs/mvxnet/README.md index cf4a6ce074..5cf2788679 100644 --- a/configs/mvxnet/README.md +++ b/configs/mvxnet/README.md @@ -20,9 +20,9 @@ We implement MVX-Net and provide its results and models on KITTI dataset. ### KITTI -| Backbone | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP11/mAP40 | Download | -| :-------------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---------: | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | -| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py) | 3 Class | cosine 40e | 7.4 | | 63.3/63.0 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805-83442923.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805.log.json) | +| Backbone | Class | Lr schd | Mem (GB) | Inf time (fps) | mAP11/mAP40 | Download | +| :-------------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---------: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | +| [SECFPN](./dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class.py) | 3 Class | cosine 40e | 7.4 | | 63.3/63.0 | [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class-5a3a671a.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/20230215_133955.log) | Detailed performance on KITTI 3D detection is as follows, evaluated by AP11 and AP40 metric: From 8f3e1c2239ec521b21ec0c023d2f4b783c76d173 Mon Sep 17 00:00:00 2001 From: JingweiZhang12 Date: Fri, 17 Feb 2023 20:35:13 +0800 Subject: [PATCH 5/5] update link in metafile --- configs/mvxnet/metafile.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/configs/mvxnet/metafile.yml b/configs/mvxnet/metafile.yml index 2431b0d7ec..d85ee7a499 100644 --- a/configs/mvxnet/metafile.yml +++ b/configs/mvxnet/metafile.yml @@ -26,5 +26,5 @@ Models: - Task: 3D Object Detection Dataset: KITTI Metrics: - mAP: 63.22 - Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class_20210831_060805-83442923.pth + mAP: 63.0 + Weights: https://download.openmmlab.com/mmdetection3d/v1.0.0_models/mvxnet/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class/dv_mvx-fpn_second_secfpn_adamw_2x8_40e_kitti-3d-3class-5a3a671a.pth