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GeoMAE

This is the official implementation of the CVPR 2023 paper - GeoMAE: Masked Geometric Target Prediction for Self-supervised Point Cloud Pre-Training [https://arxiv.org/abs/2305.08808]

Installation

Requirement

CUDA=11.3
python=3.8
pytorch=1.10.1
mmcv=1.4.8
mmdetection=2.20.0
mmdetection3d=0.15.0
spconv-cu113=2.1.21

ATTENTION: It is highly recommended to use the same version of these packages to avoid code mismatch.

For mmcv, you can follow the official installation.md to install the expected version.

For mmdetection and mmdetection3d, you can follow the official installation.md.

Finally, run

python setup.py develop

Dataset preparation

  1. Prepare nuscenes or waymo data. We recommend you follow the MMdetection3D's instructions

  2. Prepare nuscenes ssl data by running:

python tools/create_data.py nuscenes_ssl --root-path ./data/nuscenes --out-dir ./data/nuscenes --extra-tag nuscenes_ssl

Training

nuScenes

  1. Use GeoMAE to pretrain the SST backbone:
./tools/dist_train.sh configs/mae_sst/m_sst_nus_singlestage_curv_07_ssl_dataset_wo_dbsampler_6x_1e-5.py 8
  1. Use the pretrained SST to train the PointPillar:
./tools/dist_train.sh configs/pre_sst/m_sst_nus_second_pointpillar_fpn355_222_curv_07_ssl_data_wo_dbsampler_6x_1e-5.py 8

CheckPoint

You can load the pretrained GeoMAE to train the PointPillar.

model name weight mAP NDS
GeoMAE Google Drive - -
GeoMAE-PP Google Drive 53.77 57.23