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UniDistill: A Universal Cross-Modality Knowledge Distillation Framework for 3D Object Detection in Bird's-Eye View

This is the official implementation of UniDistill (CVPR2023 highlight✨, 10% of accepted papers). UniDistill offers a universal cross-modality knowledge distillation framework for different teacher and student modality combinations. The core idea is aligning the intermediate BEV features and response features that are produced by all BEV detectors.

[CVPR 2023 Highlight] UniDistill Presentation Video

Getting Started

Installation

Step 0. Install python3.6 + CUDAv10.2 + CUDNNv8.0.4 + pytorch(v1.9.0).

Step 1. Install MMCV-full==1.4.2, MMDetection2D==2.20.2, MMDetection3D==0.18.0 (Optional: download from mmdet3d whl) (Note: need install with CUDA).

pip3 install mmcv-full==1.4.2 -f https://download.openmmlab.com/mmcv/dist/cu102/torch1.9.0/index.html
pip3 install mmdet==2.20.0
# download mmdet3d whl from https://drive.google.com/file/d/1y6AjikFQGc400dTim9IIFdvR8RNvnPId/view?usp=share_link
pip3 install mmdet3d-0.18.0-cp36-cp36m-linux_x86_64.whl

Step 2. Install requirements.

pip install -r requirements.txt

Step 3. Install UniDistill(gpu required).

python setup.py develop

Data preparation

Step 0. Download nuScenes official dataset.

Step 1. Create a folder /data/dataset/ and put the dataset in it.

The directory will be as follows.

├── data
│   ├── dataset
│   │   ├── maps
│   │   ├── samples
│   │   ├── sweeps
│   │   ├── v1.0-test
|   |   ├── v1.0-trainval

Step 2. Download the infos and put them in /data/dataset/ The directory will be as follows.

├── data
│   ├── dataset
│   │   ├── maps
│   │   ├── samples
│   │   ├── sweeps
│   │   ├── v1.0-test
|   |   ├── v1.0-trainval
|   |   ├── nuscenes_test_meta.pkl
|   |   ├── nuscenes_v1.0-trainval_meta.pkl
|   |   ├── test_info.pkl
|   |   ├── train_info.pkl
|   |   ├── val_info.pkl

Testing

Step 0. Download the checkpoint models

Step 1. Generate the result If the modality of checkpoint is camera, run the following command:

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_camera_exp.py -b 1 --gpus 1 -p  --ckpt_path <PATH_TO_CHECKPOINT>

If the modality of checkpoint is LiDAR, change the command as follow:

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_lidar_exp.py -b 1 --gpus 1 -p  --ckpt_path <PATH_TO_CHECKPOINT>

Step 2. Upload the result to the evaluation server The result named "nuscenes_results.json" is in the folder "nuscenes", which is in the parent folder of the tested checkpoint.

Evaluation

Step 0. Download the checkpoint models as in "Testing"

Step 1. Generate the result If the modality of checkpoint is camera, run the following command:

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_camera_exp.py -b 1 --gpus  1 -e  --ckpt_path <PATH_TO_CHECKPOINT>

If the modality of checkpoint is LiDAR, change the command as follow:

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_camera_exp.py -b 1 --gpus 1 -e  --ckpt_path <PATH_TO_CHECKPOINT>

Training

Step 0. Train the teacher Training of the detector of one :

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_<MODALITY>_exp.py -b 1 --gpus 1 --max_epochs 20

Step 1. Train the student Put the checkpoint of the teachers to unidistill/exps/multisensor_fusion/BEVFusion/tmp/. Train the teacher of <MODALITY_1> and student of <MODALITY_2>

python unidistill/exps/multisensor_fusion/nuscenes/BEVFusion/BEVFusion_nuscenes_centerhead_<MODALITY_2>_exp_distill_<MODALITY_1>.py -b 1 --gpus 1 --max_epochs 20

Acknowledgements

Thanks to Feiyang Tan, Nan Song, Jianjian Sun and Haotian Yao from Megvii Technology for their support in basic training infrastructure.

Citation

If you find this project useful in your research, please consider citing:

@inproceedings{zhou2023unidistill,
  title={UniDistill: A Universal Cross-Modality Knowledge Distillation Framework for 3D Object Detection in Bird’s-Eye View},
  author={Shengchao Zhou and Weizhou Liu and Chen Hu and Shuchang Zhou and Chao Ma},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year={2023}
}