This is a custom implementation of the paper from Uber ATG using PyTorch 1.0. It represents the driving scene using lidar data in the Birds' Eye View (BEV) and uses a single stage object detector to predict the poses of road objects with respect to the car


  • PyTorch 1.0 Reproduced and trained from scratch using the KITTI dataset
  • Fast Custom LiDAR preprocessing using C++
  • Multi-GPU Training and Pytorch MultiProcessing package to speed up non-maximum suppression during evaluation
  • Tensorboard Visualize trainig progress using Tensorboard
  • KITTI and ROSBAG Demo Scripts that supports running inferences directly on raw KITTI data or custom rosbags.



  • Python 3.5(3.6)
  • Pytorch (Follow Official Installation Guideline)
  • Tensorflow (see their website)
  • Numpy, MatplotLib, OpenCV3
  • PyKitti (for running on KITTI raw dataset)
  • gcc
pip install shapely numpy matplotlib
git clone https://github.com/philip-huang/PIXOR
cd PIXOR/srcs/preprocess

(Optional) If you want to run this project on a custom rosbag containing Velodyne HDL64 scans the system must be Linux with ROS kinetic installed.
You also need to install the velodyne driver into the velodyne_ws folder.

Set up the velodyne workspace by running ./velodyne_setup.bash and press Ctrl-C as necessary.


A helper class is provided in run_kitti.py to simplify writing inference pipelines using pre-trained models. Here is how we would do it. Run this from the src folder (suppose I have already downloaded my KITTI raw data and extracted to somewhere)

from run_kitti import *

def make_kitti_video():
    basedir = '/mnt/ssd2/od/KITTI/raw'
    date = '2011_09_26'
    drive = '0035'
    dataset = pykitti.raw(basedir, date, drive)
    videoname = "detection_{}_{}.avi".format(date, drive)
    save_path = os.path.join(basedir, date, "{}_drive_{}_sync".format(date, drive), videoname)    
    run(dataset, save_path)


Training and Evaluation

Our Training Result (as of Dec 2018)


All configuration (hyperparameters, GPUs, etc) should be put in a config.json file and save to the directory srcs/experiments/$exp_name$
To train

python srcs/main.py train (--name=$exp_name$)

To evaluate an experiment

python srcs/main.py val (--name=$exp_name$)

To display a sample result

python srcs/main.py test --name=$exp_name$

To view tensorboard

tensorboard --logdir=srcs/logs/$exp_name$


  • [ ] Improve training accuracy on KITTI dataset
  • [ ] Data augmentation
  • [ ] Generalization gap on custom driving sequences
  • [ ] Data Collection
  • [ ] Improve model (possible idea: use map as a prior)


Project Contributors

  • Philip Huang
  • Allan Liu

Paper Citation below

  title={PIXOR: Real-Time 3D Object Detection From Point Clouds},
  author={Yang, Bin and Luo, Wenjie and Urtasun, Raquel}

We would like to thank aUToronto for genersouly sponsoring GPUs for this project