{"id":19019477,"url":"https://github.com/tusen-ai/sst","last_synced_at":"2025-04-12T21:34:06.334Z","repository":{"id":37670886,"uuid":"436921656","full_name":"tusen-ai/SST","owner":"tusen-ai","description":"Code for a series of work in LiDAR perception, including SST (CVPR 22), FSD (NeurIPS 22), FSD++ (TPAMI 23), FSDv2, and  CTRL (ICCV 23, oral).","archived":false,"fork":false,"pushed_at":"2024-05-21T13:40:08.000Z","size":4847,"stargazers_count":768,"open_issues_count":34,"forks_count":98,"subscribers_count":15,"default_branch":"main","last_synced_at":"2024-07-31T05:06:38.552Z","etag":null,"topics":["3d-object-detection","autonomous-driving","pytorch"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/tusen-ai.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-12-10T09:28:06.000Z","updated_at":"2024-07-31T05:06:59.945Z","dependencies_parsed_at":"2023-02-08T08:31:21.332Z","dependency_job_id":"a924adae-97c6-4886-8c47-81fd23dfb06a","html_url":"https://github.com/tusen-ai/SST","commit_stats":null,"previous_names":["tusimple/sst"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tusen-ai%2FSST","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tusen-ai%2FSST/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tusen-ai%2FSST/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tusen-ai%2FSST/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/tusen-ai","download_url":"https://codeload.github.com/tusen-ai/SST/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248636894,"owners_count":21137527,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d-object-detection","autonomous-driving","pytorch"],"created_at":"2024-11-08T20:12:37.909Z","updated_at":"2025-04-12T21:34:06.312Z","avatar_url":"https://github.com/tusen-ai.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003c!-- ## FSD: Fully Sparse 3D Object Detection  \u0026  SST: Single-stride Sparse Transformer  --\u003e\n\t\n\u003c!-- [![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/embracing-single-stride-3d-object-detector/3d-object-detection-on-waymo-pedestrian)](https://paperswithcode.com/sota/3d-object-detection-on-waymo-pedestrian?p=embracing-single-stride-3d-object-detector)\n[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/embracing-single-stride-3d-object-detector/3d-object-detection-on-waymo-cyclist)](https://paperswithcode.com/sota/3d-object-detection-on-waymo-cyclist?p=embracing-single-stride-3d-object-detector)\n[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/embracing-single-stride-3d-object-detector/3d-object-detection-on-waymo-vehicle)](https://paperswithcode.com/sota/3d-object-detection-on-waymo-vehicle?p=embracing-single-stride-3d-object-detector) --\u003e\n#### If your issue has not received a response for a long time, please contact the author via email at lue.fan@ia.ac.cn.\n### 🔥 We release the code of CTRL, the first open-sourced LiDAR-based auto-labeling system. See [ctrl_instruction](https://github.com/tusen-ai/SST/blob/main/docs/CTRL_instructions.md).\n### 🔥 We release FSDv2. Better performance, easier use! Support Waymo, nuScenes, and Argoverse 2. See [fsdv2_instruction](https://github.com/tusen-ai/SST/blob/main/docs/fsdv2_instructions.md).\n\n---\n\nThis repo contains official implementations of our series of work in LiDAR-based 3D object detection:\n\n- [Embracing Single Stride 3D Object Detector with Sparse Transformer](https://arxiv.org/abs/2112.06375) (CVPR 2022).\n- [Fully Sparse 3D Object Detection](http://arxiv.org/abs/2207.10035) (NeurIPS 2022).\n- [Super Sparse 3D Object Detection](http://arxiv.org/abs/2301.02562) (TPAMI 2023).\n- [Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection](https://arxiv.org/abs/2304.12315) (ICCV 2023, Oral).\n- [FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels](https://arxiv.org/abs/2308.03755).\n\nUsers could follow the instructions in [docs](https://github.com/tusen-ai/SST/blob/main/docs) to use this repo.\n\n\n**NEWS**\n- [23-08-08] The code of FSDv2 is merged into this repo.\n- [23-07-14] CTRL is aceepted at ICCV 2023.\n- [23-06-21] The code of FSD++ (TPAMI version of FSD) is released.\n- [23-06-19] The code of CTRL is released.\n- [23-03-21] The Argoverse 2 model of FSD is released. See [instructions](https://github.com/tusen-ai/SST/blob/main/instructions.md).\n- [22-09-19] The code of FSD is released here.\n- [22-09-15] FSD is accepted at NeurIPS 2022.\n- [22-03-02] SST is accepted at CVPR 2022.\n- [21-12-10] The code of SST is released.\n\n\u003c!-- **Visualization of a SST detection sequence by AB3DMOT tracking:**\n\n![demo-min](https://user-images.githubusercontent.com/21312704/145702575-24647aed-256d-486c-835f-730584cf99ee.gif) --\u003e\n\n## Citation\nPlease consider citing our work as follows if it is helpful.\n\n**Since FSD++ (TPAMI version) is accidentally excluded in Google Scholar search results, if possible, please kindly use the following bibtex**.\n```\n@inproceedings{fan2022embracing,\n  title={{Embracing Single Stride 3D Object Detector with Sparse Transformer}},\n  author={Fan, Lue and Pang, Ziqi and Zhang, Tianyuan and Wang, Yu-Xiong and Zhao, Hang and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},\n  booktitle={CVPR},\n  year={2022}\n}\n```\n```\n@inproceedings{fan2022fully,\n  title={{Fully Sparse 3D Object Detection}},\n  author={Fan, Lue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},\n  booktitle={NeurIPS},\n  year={2022}\n}\n```\n```\n@article{fan2023super,\n  title={Super Sparse 3D Object Detection},\n  author={Fan, Lue and Yang, Yuxue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},\n  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},\n  year={2023}\n}\n```\n```\n@inproceedings{fan2023once,\n  title={Once Detected, Never Lost: Surpassing Human Performance in Offline LiDAR based 3D Object Detection},\n  author={Fan, Lue and Yang, Yuxue and Mao, Yiming and Wang, Feng and Chen, Yuntao and Wang, Naiyan and Zhang, Zhaoxiang},\n  booktitle={ICCV},\n  year={2023}\n}\n```\n```\n@article{fan2023fsdv2,\n  title={FSD V2: Improving Fully Sparse 3D Object Detection with Virtual Voxels},\n  author={Fan, Lue and Wang, Feng and Wang, Naiyan and Zhang, Zhaoxiang},\n  journal={arXiv preprint arXiv:2308.03755},\n  year={2023}\n}\n```\n\n## Acknowledgments\nThis project is based on the following codebases.  \n\n* [MMDetection3D](https://github.com/open-mmlab/mmdetection3d)\n* [LiDAR-RCNN](https://github.com/TuSimple/LiDAR_RCNN)\n\nThank the authors of CenterPoint for providing their detailed results. \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftusen-ai%2Fsst","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftusen-ai%2Fsst","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftusen-ai%2Fsst/lists"}