| --- |
| license: apache-2.0 |
| library_name: OpenPCDet |
| pipeline_tag: object-detection |
| tags: |
| - 3d-object-detection |
| - 4d-radar |
| - radar-perception |
| - autonomous-driving |
| - pointpillars |
| - openpcdet |
| - view-of-delft |
| datasets: |
| - view-of-delft |
| metrics: |
| - mAP |
| --- |
| |
| # RadarPillars — View-of-Delft (radar-only 3D object detection) |
|
|
| Radar-only 3D object detection on the **View-of-Delft (VoD)** dataset — an OpenPCDet-based reproduction of **RadarPillars** ([Musiat et al., IROS 2024](https://arxiv.org/abs/2408.05020)). This checkpoint **reproduces and exceeds** the published result using 4D radar point clouds only (no camera, no LiDAR). |
|
|
| - 📄 Paper: https://arxiv.org/abs/2408.05020 |
| - 💻 Code, configs & full ablation: https://github.com/fthbng77/RadarPillar |
|
|
| ## Results (mAP_3D, R11) |
| |
| | Method | Car @ 0.50 | Ped @ 0.25 | Cyc @ 0.25 | mAP_3D | |
| |---|:---:|:---:|:---:|:---:| |
| | **This checkpoint (best seed, s3)** | **41.58** | **44.78** | 71.31 | **52.56** | |
| | 3-seed mean | 41.02 | 43.15 | 70.12 | 51.43 ± 0.99 | |
| | RadarPillars (paper) | 41.10 | 38.60 | 72.60 | 50.70 | |
|
|
| **+1.86 mAP_3D over the paper** (best seed). Checkpoint: seed s3 @ epoch 60 (eval-best). |
| |
| ## Usage |
| |
| ```bash |
| git clone https://github.com/fthbng77/RadarPillar |
| cd RadarPillar |
| python setup.py develop |
| |
| # download this checkpoint |
| huggingface-cli download fthbng77/radarpillars-vod radarpillar_vod_best_map52.56.pth --local-dir weights |
| |
| # evaluate |
| python tools/test.py \ |
| --cfg_file tools/cfgs/vod_models/vod_radarpillar_rot.yaml \ |
| --ckpt weights/radarpillar_vod_best_map52.56.pth |
| ``` |
| |
| ## Architecture |
| |
| PillarVFE (radial-velocity decomposition) → PillarAttention (masked self-attention) → PointPillarScatter → BaseBEVBackbone → AnchorHeadSingle (Car / Pedestrian / Cyclist). ~0.27M params. See the [GitHub repo](https://github.com/fthbng77/RadarPillar) for full details. |
| |
| ## Citation |
| |
| ```bibtex |
| @inproceedings{radarpillars2024, |
| title = {RadarPillars: Efficient Object Detection from 4D Radar Point Clouds}, |
| author = {Musiat, Alexander and Reichardt, Laurenz and Schulze, Michael and Wasenm{\"u}ller, Oliver}, |
| booktitle = {Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS)}, |
| year = {2024} |
| } |
| ``` |
| |
| License: Apache-2.0. Built on [OpenPCDet](https://github.com/open-mmlab/OpenPCDet). |
| |
