Cylinder3D

The source code of our work "Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation.

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Installation

Requirements

Data Preparation

SemanticKITTI

./
├── 
├── ...
└── path_to_data_shown_in_config/
    ├──sequences
        ├── 00/           
        │   ├── velodyne/	
        |   |	├── 000000.bin
        |   |	├── 000001.bin
        |   |	└── ...
        │   └── labels/ 
        |       ├── 000000.label
        |       ├── 000001.label
        |       └── ...
        ├── 08/ # for validation
        ├── 11/ # 11-21 for testing
        └── 21/
	    └── ...

nuScenes

./
├── 
├── ...
└── path_to_data_shown_in_config/
		├──v1.0-trainval
		├──v1.0-test
		├──samples
		├──sweeps
		├──maps

Training

  1. modify the config/semantickitti.yaml with your custom settings. We provide a sample yaml for SemanticKITTI.
  2. train the network by running "sh train.sh".

Pretrained Models

-- We provide a pretrained model for SemanticKITTI LINK1 or LINK2 (access code: xqmi)

TODO List

  • [ ] Release pretrained model for nuScenes.
  • [ ] Support more models, including PolarNet, RandLA, SequeezeV3 and etc.
  • [ ] Support more datasets, including A2D2 and etc.
  • [ ] Integrate LiDAR Panoptic Segmentation into the codebase.

GitHub