https://github.com/zhangyp15/beverse

The official repository for BEVerse
https://github.com/zhangyp15/beverse

Last synced: 19 days ago
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The official repository for BEVerse

• Host: GitHub
• URL: https://github.com/zhangyp15/beverse
• Owner: zhangyp15
• Created: 2022-05-19T02:08:03.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-07-29T02:24:05.000Z (over 2 years ago)
• Last Synced: 2024-10-28T06:58:24.542Z (19 days ago)
• Language: Python
• Size: 23.2 MB
• Stars: 386
• Watchers: 32
• Forks: 51
• Open Issues: 16
• Metadata Files:
  • Readme: README.md

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README

        
# BEVerse

The official implementation of the paper [BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving](https://arxiv.org/abs/2205.09743).

 

## News

* **2022.07.20:** We release the code and models of BEVerse.

## Model Zoo

|Method | mAP      | NDS     | IoU (Map) | IoU (Motion) | VPQ | Model |

|:--------:|:----------:|:---------:|:--------:|:-------------:|:-----:|:-------:|

| [**BEVerse-Tiny**](configs/bevdet/bevdet-sttiny.py)       | 32.1 | 46.6 | 48.7 | 38.7 | 33.3 | [Google Drive](https://drive.google.com/file/d/1S2o8v6YFkeHMuJIpw-SWNDGySacH1xCV/view?usp=sharing)

| [**BEVerse-Small**](configs/bevdet4d/bevdet4d-sttiny.py) | 35.2 | 49.5 | 51.7 | 40.9 | 36.1 | [Google Drive](https://drive.google.com/file/d/1n0teAat6Qy_EeJdDfWcwm0x8FZ2wsAo9/view?usp=sharing)

## Installation

Please check [installation](docs/installation.md) for installation and [data_preparation](docs/data_preparation.md) for preparing the nuScenes dataset.

## Getting Started

Please check [getting_started](docs/getting_started.md) for training, evaluation, and visualization of BEVerse.

## Visualization

![visualization](figs/vis.jpg "Results on nuScenes")

## Acknowledgement

This project is mainly based on the following open-sourced projects: [open-mmlab](https://github.com/open-mmlab), [BEVDet](https://github.com/HuangJunJie2017/BEVDet), [HDMapNet](https://github.com/Tsinghua-MARS-Lab/HDMapNet), [Fiery](https://github.com/wayveai/fiery).

## Bibtex

If this work is helpful for your research, please consider citing the following BibTeX entry.

```

@article{zhang2022beverse,

  title={BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving},

  author={Zhang, Yunpeng and Zhu, Zheng and Zheng, Wenzhao and Huang, Junjie and Huang, Guan and Zhou, Jie and Lu, Jiwen},

  journal={arXiv preprint arXiv:2205.09743},

  year={2022}

}

@article{huang2021bevdet,

  title={BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View},

  author={Huang, Junjie and Huang, Guan and Zhu, Zheng and Yun, Ye and Du, Dalong},

  journal={arXiv preprint arXiv:2112.11790},

  year={2021}

}

```