MonoDETR: Depth-guided Transformer for Monocular 3D Object Detection

Official implementation of 'MonoDETR: Depth-guided Transformer for Monocular 3D Object Detection'.

The paper has been accepted by ICCV 2023 🎉.

News

• [2023-08] A More Stable Version 🌟 of MonoDETR on KITTI is now released! 🔥🔥🔥
• [2022-04] The initial code of MonoDETR on KITTI is released

Introduction

MonoDETR is the first DETR-based model for monocular 3D detection without additional depth supervision, anchors or NMS. We enable the vanilla transformer in DETR to be depth-guided and achieve scene-level geometric perception. In this way, each object estimates its 3D attributes adaptively from the depth-informative regions on the image, not limited by center-around features.

Main Results

Note that the randomness of training for monocular detection would cause a variance of ±1 AP_3D on KITTI.

The official results in the paper:

Models	Val, AP3D|R40
	Easy	Mod.	Hard
MonoDETR	28.84%	20.61%	16.38%

New and better results in this repo:

Models	Val, AP3D|R40			Logs	Ckpts
	Easy	Mod.	Hard
MonoDETR	28.79%	20.83%	17.47%	log	ckpt
	29.36%	20.64%	17.30%	log	ckpt
	27.58%	20.14%	16.98%	log	ckpt

Installation

1. Clone this project and create a conda environment:

   git clone https://github.com/ZrrSkywalker/MonoDETR.git
   cd MonoDETR
   
   conda create -n monodetr python=3.8
   conda activate monodetr
   

2. Install pytorch and torchvision matching your CUDA version:

   conda install pytorch torchvision cudatoolkit
   # We adopt torch 1.9.0+cu111

3. Install requirements and compile the deformable attention:

   pip install -r requirements.txt
   
   cd lib/models/monodetr/ops/
   bash make.sh
   
   cd ../../../..
   

4. Make dictionary for saving training losses:

   mkdir logs
   

5. Download KITTI datasets and prepare the directory structure as:

   │MonoDETR/
   ├──...
   ├──data/KITTIDataset/
   │   ├──ImageSets/
   │   ├──training/
   │   ├──testing/
   ├──...
   

   You can also change the data path at "dataset/root_dir" in configs/monodetr.yaml.

Get Started

Train

You can modify the settings of models and training in configs/monodetr.yaml and indicate the GPU in train.sh:

bash train.sh configs/monodetr.yaml > logs/monodetr.log

Test

The best checkpoint will be evaluated as default. You can change it at "tester/checkpoint" in configs/monodetr.yaml:

bash test.sh configs/monodetr.yaml

Acknowlegment

This repo benefits from the excellent Deformable-DETR and MonoDLE.

Citation

@article{zhang2022monodetr,
  title={MonoDETR: Depth-guided Transformer for Monocular 3D Object Detection},
  author={Zhang, Renrui and Qiu, Han and Wang, Tai and Xu, Xuanzhuo and Guo, Ziyu and Qiao, Yu and Gao, Peng and Li, Hongsheng},
  journal={ICCV 2023},
  year={2022}
}

Contact

If you have any questions about this project, please feel free to contact zhangrenrui@pjlab.org.cn.