Waymo-2D-Object-Detection

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Introduction

This is a repo using tensorflow object detection API to detect Waymo open dataset.
Reference: Tensorflow Docs

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Requirements

Details are in the notebook.

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Dataset

Waymo Open Dataset

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Label Map

item {
    id: 1
    name: 'vehicle'
}

item {
    id: 2
    name: 'pedestrian'
}

item {
    id: 4
    name: 'cyclist'
}

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Preprocess

Filter out lidar informations and leverage bounding boxes of:

FRONT, FRONT_LEFT, FRONT_RIGHT, SIDE_LEFT, SIDE_RIGHT cameras.

Code

Script

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Train and Evaluate

Fine tune models pre-trained on COCO dataset.

Train and evaluate at the same time and save the best model checkpoint during training.

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Results

CenterNet

Taiwan Street

Waymo Image

SSD ResNet

Taiwan Street

Waymo Image