Waymo-2D-Object-Detection

Introduction

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

Requirements

Details are in the notebook.

Dataset

Waymo Open Dataset

Label Map

item {
    id: 1
    name: 'vehicle'
}

item {
    id: 2
    name: 'pedestrian'
}

item {
    id: 4
    name: 'cyclist'
}

Preprocess

Filter out lidar informations and leverage bounding boxes of:

FRONT, FRONT_LEFT, FRONT_RIGHT, SIDE_LEFT, SIDE_RIGHT cameras.

Code

Script

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.

Results

CenterNet

Taiwan Street

Waymo Image

SSD ResNet

Taiwan Street

Waymo Image