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RadarNet Implementation

Introduction

This repository implements a point-cloud-based object detection method called RadarNet (ECCV'20).

Paper Link

Please note:

  • This repository reproduces only the object detection functionality from the original paper. The velocity estimation functionality will be added in future updates.
  • Some specific details, such as learning rate, hard sample mining strategies, and sample extraction schemes, are not explicitly mentioned in the original paper. Hence, related works have been referenced to set up these parameters.

Prerequisites

It is highly recommended to create a new environment using Anaconda3 for this project.

Below is the version information for core libraries used:

Library Version
Python 3.7.10
PyTorch 1.7.0
CUDA 11.0

Note:
The appropriate CUDA version depends on your GPU. Please ensure you install the correct version of CUDA and cuDNN on your server.
Additional libraries such as nuscenes-devkit and opencv may also be required when running the code. Install them as needed.

Dataset Preparation

To train the network on the NuScenes dataset:

  1. Download the dataset from NuScenes.
  2. Organize the dataset as follows:
NUSCENES_DATASET_ROOT/
├── samples/
├── sweeps/
├── maps/
├── v1.0-mini/
├── v1.0-trainval/
└── v1.0-test/

It is highly recommended to first test the code on the mini set before formally training the model on the trainval set.

After organizing the dataset, follow these steps:

  1. Run the script at src/tools/convert_nuScenes.py to load and preprocess the required data.

    • Modify the dataset path and specify the splits you need in the script.
    • The script will extract the following:
      • Voxel representations of lidar and radar
      • Radar targets
      • Annotations
    • The processed data will be saved in the dataset root directory.

  2. Important Parameters:

    • NUM_SWEEPS_LIDAR (Maximum: 10) and NUM_SWEEPS_RADAR (Maximum: 6) control the number of lidar and radar sweeps per sample.
    • To increase the influence of radar in detection, set NUM_SWEEPS_LIDAR to 1 (highly recommended).
    • In the original paper, these values were set to 10 and 6, respectively, which significantly slows processing.

  3. Ensure you have at least 300 GB of disk space to store the fully prepared training data.

Model Training

You can train the model using the main.py file. Follow these steps:

  1. Modify num_chan:

    • This depends on the number of point cloud sweeps you use: 
      num_chan = (NUM_SWEEPS_LIDAR * height_range / res_height) + NUM_SWEEPS_RADAR
    • height_range and res_height are defined in convert_nuScenes.py.

  2. Set Paths:

    • Update data_path with the dataset directory.
    • Update base_path with the directory where you want to save training results.

  3. Resume Training:

    • To resume training from a checkpoint, set load_checkpoint = True.

  4. Adjust Parameters:

    • Variables like batch_size, device, learning rate, and its decay can be modified in main.py.
    • Epoch numbers, train splits, and other options can be configured in opts.py.

  5. Validation:

    • To validate the model on the validation set after each epoch, uncomment the relevant lines at the bottom of the main function.

Model Testing

  1. Before testing, use src/tools/visualize_result.py to save BEV figures of lidar data for visualization.
  2. Run test.py to test the trained model on your dataset.
  3. Test results and visualizations will be saved in the directory specified by res_path.

Data Analysis

  1. Use img2video.py to convert visualization results into video format.
  2. Use plot_loss.py to generate training loss curves and AP (Average Precision) curves.

Notes

This repository provides a rough implementation of the overall project. If you wish to extend its functionality, you are encouraged to implement additional features as needed.