This is the official repository for ''ER3D: An Efficient Real-time 3D Object Detection Framework for Autonomous Driving''

Due to the double-blind principle, this repository including the video is published as an anonymous resource.

System Overview

[Video]

Download the official KITTI 3D object detection dataset and organize the downloaded files as follows:

ER3D
├── data
│   ├── kitti
│   │   ├── ImageSets
│   │   │   ├── val.txt ...
│   │   ├── training
│   │   │   ├── calib /000000.txt ...
│   │   │   ├── image_2 /000000.png ...
│   │   │   ├── image_3 /000000.png ...

We provide the optimized Dynamic Library of Semi-Global Matching (SGM) of our implementation. To run it properly, installing the environments with the same version as ours would be necessary.

• GPU: TITAN RTX
• opencv=3.4.12
• cuda=10.2
• cudnn=7.6.5

conda install pytorch=1.10.1 torchvision=0.11.2 cudatoolkit=10.2
pip install spconv-cu102
cd utils/iou3d_nms
python setup.py develop

python test.py

• OpenPCDet