This is repositoy of paper "RT3D: Real-Time 3D Vehicle Detection in LiDAR Point Cloud for Autonomous Driving"
Our implementation are based on the RFCN by YuwenXiong: https://github.com/YuwenXiong/py-R-FCN
And the Caffe should use the Mircosoft brunch :https://github.com/Microsoft/caffe.git
Runtime support: CUDA 8.0, CUDNN-v5
The results on validation set is here: download
$ROOT/data/imagenet_models/ResNet-50-deploy.prototxt
$ROOT/data/imagenet_models/ResNet-50-model.caffemodel
Kitti object detection data should transfer to Pascal VOC style.
For example: $ROOT/data/VOCdevkit2007
To runnung testing
$ python test_theta_w_l.py --gpu id --img BEVPATH