LiDAR-Based 3D Object Detection

Step-by-Step Guide

Welcome to this guide on LiDAR-based 3D Object Detection using the OpenPCDet codebase. In this tutorial, we will explore the OpenPCDet framework in detail and demonstrate how to implement an object detection algorithm across three different levels.

Part 4: Training and Testing using Custom Data

Organize data as follows:

MAIN

├── data

│   ├── custom

│   │   │── ImageSets

│   │   │   │── train.txt

│   │   │   │── val.txt

│   │   │── points

│   │   │   │── 1.npy

│   │   │   │── 100.npy

│   │   │── labels

│   │   │   │── 1.txt

│   │   │   │── 100.txt

├── 3DDetector

├── tools

set parameters in pv_rcnn.yaml

Run the data preparation script

After training run the inference