SECOND is an efficient 3D object detection framework for LiDAR point cloud data, utilizing sparse convolutional networks to enhance information retention. It introduces improved sparse convolution methods for faster training and inference, along with novel angle loss regression for better orientation estimation. The framework also incorporates a unique data augmentation approach to boost convergence speed and performance. SECOND achieves state-of-the-art results on the KITTI benchmark while maintaining rapid inference, making it suitable for real-time applications like autonomous driving.
| GPU | IXUCA SDK | Release |
|---|---|---|
| BI-V150 | 4.1.1 | 24.06 |
Download the kitti dataset from http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d
Download the "planes" subdataset from https://drive.google.com/file/d/1d5mq0RXRnvHPVeKx6Q612z0YRO1t2wAp/view?usp=sharing
OpenPCDet
├── data
│ ├── kitti
│ │ │── ImageSets
│ │ │── training
│ │ │ ├──calib & velodyne & label_2 & image_2 & (optional: planes) & (optional: depth_2)
│ │ │── testing
│ │ │ ├──calib & velodyne & image_2
├── pcdet
├── tools# Modify the `DATA_PATH` in the kitti_dataset.yaml to your own
cd <deepsparkhub_root>/toolbox/openpcdet
python3 -m pcdet.datasets.kitti.kitti_dataset create_kitti_infos tools/cfgs/dataset_configs/kitti_dataset.yaml## install libGL and libboost
yum install mesa-libGL
yum install boost-devel
# Install numba
pushd <deepsparkhub_root>/toolbox/numba
python3 setup.py bdist_wheel -d build_pip 2>&1 | tee compile.log
pip3 install build_pip/numba-0.56.4-cp310-cp310-linux_x86_64.whl
popd
# Install spconv
pushd <deepsparkhub_root>/toolbox/spconv
bash clean_spconv.sh
bash build_spconv.sh
bash install_spconv.sh
popd
# Install openpcdet
pushd <deepsparkhub_root>/toolbox/openpcdet
pip3 install -r requirements.txt
bash build_openpcdet.sh
bash install_openpcdet.sh
popd# Single GPU training
cd tools/
python3 train.py --cfg_file cfgs/kitti_models/second.yaml
# Multiple GPU training
bash scripts/dist_train.sh 16 --cfg_file cfgs/kitti_models/second.yaml