# CenterPoint-KITTI

**Repository Path**: aiacLab/CenterPoint-KITTI

## Basic Information

- **Project Name**: CenterPoint-KITTI
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-03-21
- **Last Updated**: 2023-08-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# CenterPoint

3D Object Detection and Tracking using center points in the bird-eye view.

<p align="center"> <img src='docs/teaser.png' align="center" height="230px"> </p>

> [**Center-based 3D Object Detection and Tracking**](https://arxiv.org/abs/2006.11275),            
> Tianwei Yin, Xingyi Zhou, Philipp Kr&auml;henb&uuml;hl,        
> *arXiv technical report ([arXiv 2006.11275](https://arxiv.org/abs/2006.11275))*  



    @article{yin2021center,
      title={Center-based 3D Object Detection and Tracking},
      author={Yin, Tianwei and Zhou, Xingyi and Kr{\"a}henb{\"u}hl, Philipp},
      journal={CVPR},
      year={2021},
    }

**CenterPoint is also implemented in the official [OpenPCDet repo](https://github.com/open-mmlab/OpenPCDet) and can reproduce results on nuScenes and Waymo**. 

This repo is an reimplementation of CenterPoint on the KITTI dataset. For nuScenes and Waymo, please refer to the [original repo](https://github.com/tianweiy/CenterPoint). Please refer to [INSTALL.md](docs/INSTALL.md) for installation. We provide two configs, [centerpoint.yaml](tools/cfgs/kitti_models/centerpoint.yaml) for the vanilla centerpoint model and [centerpoint_rcnn.yaml](tools/cfgs/kitti_models/centerpoint_rcnn.yaml) which combines centerpoint with PVRCNN. 


## Acknowledgement

Our code is based on [OpenPCDet](https://github.com/open-mmlab/OpenPCDet). Some util files are copied from [mmdetection](https://github.com/open-mmlab/mmdetection) and [mmdetection3d](https://github.com/open-mmlab/mmdetection3d). Thanks OpenMMLab Development Team for their awesome codebases.