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| Property | Value |
|---|---|
| Architecture | CenterPoint (PillarVFE + PointPillarScatter + BaseBEVBackbone + CenterHead) |
| Classes | car, truck, pedestrian, bicycle |
| Point cloud range | [−51.2, −51.2, −5.0] → [51.2, 51.2, 3.0] m |
| Voxel size | 0.2 × 0.2 × 8.0 m (pillar) |
| Training epochs | 80 |
| Point features | x, y, z, intensity, timestamp (5-dim) |
| File | Description |
|---|---|
checkpoint_epoch_80.pth | Full model checkpoint (weights + optimizer state) |
centerpoint_8k_rebuilt_consecutive_val_6401_7200.yaml | Model + training config |
nuscenes_custom_8k_rebuilt_consecutive_val_6401_7200.yaml | Dataset config |
demo/ folder of the
OpenPCDet repository.1conda activate openpcdet_torch25
2python demo/gradio_demo.py1@misc{openpcdet2020,
2 title={OpenPCDet: An Open-source Toolbox for 3D Object Detection from Point Clouds},
3 author={OpenPCDet Development Team},
4 howpublished={\url{https://github.com/open-mmlab/OpenPCDet}},
5 year={2020}
6}