3D-LiDAR-YOLOv8-obb

3D LiDAR Object Detection using YOLOv8-obb (oriented bounding box). 2 scenarios were tested, the A9-Intersection dataset [1] and the ubiquitous KITTI dataset. The LiDAR pointclouds are converted into in a Bird'e-Eye-View image [2]. The YOLOv8-obb [3] model is used to predict bounding boxes and classes in the BEV image. A separate ROS node for tracking the detections is provided, it is based on SORT [4], and uses rotated bounding boxes.

Example output from A9 Intersection dataset

Example BEV Psuedo Image from KITTI dataset

TODO

• Seperate the ros package from scripts for creating training data
• Add gif/image
• Add support for KITTI data
• Add example ROS bag
• Add documentation
• Create branch for Ubuntu 22/ROS2 Humble

Install

Tested on:

Ubunbtu 22
i7-11800H @ 2.30GHz × 16
32 GB RAM
NVIDIA Quadro T1200
CUDA Version: 11.8? - just let apt decide what it installs

If you prefer to use ROS 2 Galctic, a few changes in the code are required (vision_msgs/msg/Detection2D has a slightly different definition)

1. ROS 2 Humble: Follow https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html.

2. Clone repo:

   cd <ROS2_WS>/src
   git clone --recurse-submodules https://github.com/adrian-soch/cam_lidar_tools.git
   

3. Run rosdep tool to automatically download ROS dependencies rosdep install --from-paths . -y --ignore-src.

4. sudo apt install nvidia-cudnn

5. Python deps:

   pip3 install ros2-numpy==0.0.4 \
   transforms3d==0.4.1 \
   ultralytics==8.2.2 \
   open3d==0.18.0 \
   filterpy==1.4.5 \
   lap==0.4.0 \
   shapely>=2.0.4 \
   numpy==1.23.5
   

   Always source the ROS2 install and the local ros2 worksapce via source /opt/ros/humble/setup.bash and . install/setup.bash respectively.

Usage

1. Download a sample rosbag here: https://drive.google.com/drive/folders/1rVnvbeyFYvG2HnFULadnT8nWH69EnOCm?usp=sharing. (Or create your own)
2. OPTIONAL Export the PyTorch Model to TensorRT for faster inference, see here.
3. Build and run the nodes, see the example launch file for details.

Exporting model to TensorRT (Spped up inference for Nvidia)

Assuming the ultralytics package is installed, run this command with the PyTorch weights to compile an .engine file for faster inference speeds on Nvidia GPUs.

yolo export model=yolo8n-obb_range.pt format=engine imgsz=1024 half=True simplify=True

References

• [1]

  @inproceedings{zimmer2023tumtrafintersection,
          title={TUMTraf Intersection Dataset: All You Need for Urban 3D Camera-LiDAR Roadside Perception},
          author={Zimmer, Walter and Cre{\ss}, Christian and Nguyen, Huu Tung and Knoll, Alois C},
          booktitle={2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
          pages={1030--1037},
          year={2023},
          organization={IEEE}
      }
  

• [2]

  @misc{Super-Fast-Accurate-3D-Object-Detection-PyTorch,
  author =       {Nguyen Mau Dung},
  title =        {{Super-Fast-Accurate-3D-Object-Detection-PyTorch}},
  howpublished = {\url{https://github.com/maudzung/Super-Fast-Accurate-3D-Object-Detection}},
  year =         {2020}
  }
  

• [3]

  @software{Jocher_Ultralytics_YOLO_2023,
  author = {Jocher, Glenn and Chaurasia, Ayush and Qiu, Jing},
  license = {AGPL-3.0},
  month = jan,
  title = {{Ultralytics YOLO}},
  url = {https://github.com/ultralytics/ultralytics},
  version = {8.0.0},
  year = {2023}
  }
  

• [4]

  @inproceedings{Bewley2016_sort,
  author={Bewley, Alex and Ge, Zongyuan and Ott, Lionel and Ramos, Fabio and Upcroft, Ben},
  booktitle={2016 IEEE International Conference on Image Processing (ICIP)},
  title={Simple online and realtime tracking},
  year={2016},
  pages={3464-3468},
  keywords={Benchmark testing;Complexity theory;Detectors;Kalman filters;Target tracking;Visualization;Computer Vision;Data Association;Detection;Multiple Object Tracking},
  doi={10.1109/ICIP.2016.7533003}
  }