Occupancy Dataset for nuScenes

Camera-based detection has recently made a huge breakthrough, and researchers are ready for the next harder challenge: occupancy predicton.

Occupancy is not a new topic, and there have been some related studies before (MonoScene, SemanticKitti). However, the existing occupancy datasets still have shortcomings. There is a huge gap between the sparse occupancy annotations generated by limited point clouds and the image modality. In order to promote the learning about occupancy, we take a small step forward.

In this project, we use the nuScenes dataset as the base, and for each frame, we align the point cloud of the front and rear long-term windows to the current timestamp. Based on this dense point cloud, we can generate high-quality occupancy annotations. It is worth mentioning we perform independent alignment for dynamic objects and static objects.

Dataset

The occupancy label no longer uses simple bounding boxes to represent objects, and each object has an occupancy label corresponding to its real shape.

Prediction

Installation

1. Create conda environment with python version 3.8

2. Install pytorch and torchvision with versions specified in requirements.txt

3. Follow instructions in https://mmdetection3d.readthedocs.io/en/latest/getting_started.html#installation to install mmcv-full, mmdet, mmsegmentation and mmdet3d with versions specified in requirements.txt

4. Install timm, numba and pyyaml with versions specified in requirements.txt

Preparing

1. Download pretrain weights from https://github.com/zhiqi-li/storage/releases/download/v1.0/r101_dcn_fcos3d_pretrain.pth and put it in ckpts/

2. Create soft link from data/nuscenes to your_nuscenes_path

3. Follow the mmdet3d to process the data.

4. Generate occupancy data

python data_converter.py --dataroot ./project/data/nuscenes/ --save_path ./project/data/nuscenes/occupancy/ 

Train

cd project
bash launcher.sh config/occupancy.py out/occupancy 

Test

checkpoints download from here

cd project
python eval.py --py-config config/occupancy.py --ckpt-path ckpts/occupancyNet.pth

visualization

python utils/vis_pts.py --pts-path $LIDARPATH

Model

We designed a naive occupancy prediction model based on BEVFormer as the baseline.

Similar to BEVFormer, Occupancy-BEVFormer network has 3 encoder layers, each of which follows the conventional structure of transformers, except for three tailored designs, namely BEV queries, spatial cross-attention, and self-attention. Specifically, BEV queries are grid-shaped learnable parameters, which is designed to query features in BEV space from multi-camera views via attention mechanisms. Spatial cross-attention and self-attention are attention layers working with BEV queries, which are used to lookup and aggregate spatial features from multi-camera images, according to the BEV query. Since the BEVfeature is two-dimensional, an embedding in the z-axis direction is added to turn it into a three-dimensional space feature, and then a convolutional neural network is used to generate the semantics of each position in the three-dimensional space.

Evaluation Metrics

mIoU

Let $C$ be he number of classes.

$$ mIoU=\frac{1}{C}\displaystyle \sum_{c=1}^{C}\frac{TP_c}{TP_c+FP_c+FN_c}, $$

where $TP_c$ , $FP_c$ , and $FN_c$ correspond to the number of true positive, false positive, and false negative predictions for class $c_i$.

Results in val set

barrier	bicycle	bus	car	construction_vehicle	motorcycle	pedestrian	traffic_cone	trailer	truck	driveable_surface	other_flat	sidewalk	terrain	manmade	vegetation	miou
15.12	8.55	28.78	28.06	10.36	13.42	9.22	4.57	17.38	22.56	48.38	22.57	29.11	25.81	16.22	20.77	20.056

Results in mini-val set

barrier	bicycle	bus	car	construction_vehicle	motorcycle	pedestrian	traffic_cone	trailer	truck	driveable_surface	other_flat	sidewalk	terrain	manmade	vegetation	miou
\	14.67	44.13	33.06	0.00	20.41	11.12	1.18	0.00	29.94	46.69	0.65	29.67	18.77	19.14	23.96	19.559

clik here download mini occupancy dataset for nuscenes v1.0-mini

GoogleDive

BaiduYun The full dataset is coming soon.

Acknowledgement

Many thanks to these excellent open source projects:

• open-mmlab
• BEVFormer
• TPVFormer

Most thanks to nuscenes dataset:

• nuscenes