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KiTTI Data Processing and 3D CNN for Vehicle Detection

3D CNN for Vehicle Detection

3D Fully Convolutional Network using PointCloud data for Vehicle Detection
Reference: 3D Fully Convolutional Network for Vehicle Detection in Point Cloud https://arxiv.org/pdf/1611.08069.pdf

Main File is "model_01_deconv.py"
Data Loading Function is "input_velodyne.py"

Example (3D Bounding Box:8 Vertices) Not executing NMS

Requirement

  • Python
  • tensorflow
  • ROS
  • Python-PCL (If you will not use pcl, please comment out related code in input_velodyne.py

KiTTI Data Processing

Dataset is KITTI 3D Object Detection Datasets
http://www.cvlibs.net/datasets/kitti/eval_object.php?obj_benchmark=3d

  • Velodyne PointCloud
  • training labels
  • Calibration