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license: apache-2.0
library_name: torch-pointcloud
tags:
- point-cloud
- 3d
- pytorch
- torch-pointcloud
- second
- object-detection
datasets:
- kitti
model-index:
- name: second.kitti.openpcdet
results:
- task:
type: 3d-object-detection
dataset:
name: KITTI
type: kitti
metrics:
- name: mAP
type: map
value: 66.26
---
# Model card for second.kitti.openpcdet
A SECOND 3D object detection model (sparse convolutional voxel detector). Trained on KITTI.
## Model Details
- **Model Type:** 3D object detection
- **Model Stats:**
- Params (M): 5.3
- Input channels: 4
- Classes: 3
- Features: 512
- **Dataset:** KITTI
- **Metrics:** mAP 66.26 (reference 66.25)
- **Paper:** [SECOND: Sparsely Embedded Convolutional Detection](https://www.mdpi.com/1424-8220/18/10/3337)
- **Converted from:** [open-mmlab/OpenPCDet](https://github.com/open-mmlab/OpenPCDet) (Apache-2.0)
- **Library:** [torch-pointcloud](https://github.com/arthurdjn/pytorch-pointcloud)
## Install
```bash
pip install torch-pointcloud
```
This checkpoint also needs `spconv`, which needs a build matching your torch and CUDA: see the [installation guide](https://pytorch-pointcloud.org/installation/).
## Usage
```python
import torch
import torch_pointcloud as tp
from torch_pointcloud.utils.data import collate
model, info = tp.create_model(
"second.kitti.openpcdet",
task="detection",
pretrained=True,
return_info=True,
)
model = model.cuda().eval() # GPU-only kernels
# synthetic sample with the keys a dataset provides
num_points = 8192
sample = {
"pos": torch.randn(num_points, 3),
"intensity": torch.rand(num_points, 1),
}
data = info["transform"](sample)
data = collate([data], batch_from="pos_voxel")
data = {key: value.cuda() for key, value in data.items()}
with torch.no_grad():
out = model(data["voxel"], data["pos_voxel"], data["voxel_num_points"], data["batch"])
```
## Feature extraction
```python
with torch.no_grad():
features = model.forward_features(
data["voxel"],
data["pos_voxel"],
data["voxel_num_points"],
data["batch"],
) # 512 channels
```
## Citation
```bibtex
@article{yan2018second,
title = {{SECOND}: Sparsely Embedded Convolutional Detection},
author = {Yan, Yan and Mao, Yuxing and Li, Bo},
journal = {Sensors},
volume = {18},
number = {10},
pages = {3337},
year = {2018}
}
@inproceedings{geiger2012kitti,
title = {Are we ready for Autonomous Driving? The {KITTI} Vision Benchmark Suite},
author = {Geiger, Andreas and Lenz, Philip and Urtasun, Raquel},
booktitle = {CVPR},
year = {2012}
}
@software{dujardin2026pytorchpointcloud,
author = {Arthur Dujardin},
title = {PyTorch PointCloud},
year = {2026},
doi = {10.5281/zenodo.22159632},
url = {https://github.com/arthurdjn/pytorch-pointcloud},
}
```
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