MonoGRNet: A Geometric Reasoning Network for 3D Object Localization

The repository contains an implementation of this AAAI Oral Paper.

Video Demo

Detection Outputs on KITTI Validation Set

Related Project

Triangulation Learning Network: from Monocular to Stereo 3D Object Detection

Please cite this paper if you find the repository helpful:

@article{qin2019monogrnet, 
  title={MonoGRNet: A Geometric Reasoning Network for 3D Object Localization}, 
  author={Zengyi Qin and Jinglu Wang and Yan Lu},
  journal={The Thirty-Third AAAI Conference on Artificial Intelligence (AAAI-19)},
  year={2019}
}

Prerequisites

• Ubuntu 16.04
• Python 2.7
• Tensorflow 1.4.0

Install

Clone this repository

git clone https://github.com/Zengyi-Qin/MonoGRNet.git

Download the Kitti Object Detection Dataset (image, calib and label) and place it into data/KittiBox. The folder should be in the following structure:

data
    KittiBox
        training
            calib
            image_2
            label_2
        train.txt
        val.txt

The train-val split train.txt and val.txt are contained in this repository.

Compile the Cython module and download the pretrained model:

python setup.py

Training and evaluation

Run the training script and specify the GPU to use:

python train.py --gpus 0

The evaluation is done during training. You can adjust the evaluation intervals in hypes/kittiBox.json.

Visualization

cd visualize && mkdir visualize
python visualize.py

Acknowledgement

We would like to thank the authors of KittiBox for their code.