About pointpillar training

[GuoliangPeng]

Hello, do you have a training framework for open-source lidar detection and how to use my own data for training？ And what is the accuracy of the improved pointpillar？

[w111liang222]

Hi, We use the OpenPCDet framework to train the models in LSD, it supports to use custom dataset.

We compared the LSD's lidar detection model(sensor_inference/cfgs/detection_lidar_large.yaml) with the origin pointpillar using the 20% training data and test on validation set of WOD, the mAP of LSD is: Vec_L1 Vec_L2 Ped_L1 Ped_L2 Cyc_L1 Cyc_L2 75.06/74.44 66.34/65.77 72.10/61.43 63.75/54.12 64.55/63.03 62.35/60.88