## YOLO v5 for Lidar-based 3D BEV Detection
This repo developed a 3D detector, which based on yolo3d. We replace the yolov2 of the yolo3d to yolov5.
It's performance is limited by the information loss of BEV image generation. So now my interest is mainly on the OpenPCDet.
Now it best mAP is 0.57.
3D目标检测YOLO，可以直接用于3D检测 （104个子文件） 
readme.md 301B kitti_eval.py 36KB yolo_head.py 29KB rotate_nms_gpu.py 23KB kitti_data_utils.py 16KB transformation.py 15KB visualization_utils.py 14KB yolo_layer.py 13KB evaluation_utils.py 13KB iou_rotated_boxes_utils.py 13KB find_anchors.py 12KB kitti_dataset.py 11KB train_utils.py 10KB boxes.py 10KB train.py 8KB kitti_bev_utils.py 7KB net_blocks.py 6KB lr_scheduler.py 6KB cal_intersection_rotated_boxes.py 6KB darknet.py 6KB kitti_dataloader.py 5KB configs.py 4KB yolo_pan.py 3KB yolox_visualize.py 3KB yolov5_head.py 3KB evaluate.py 3KB yolo_fpn.py 2KB yolo_head_test.py 2KB misc.py 2KB kitti_config.py 2KB logger.py 1KB coco_classes.py 1KB yolo3d_test.py 1KB yolo_neck_test.py 1KB yolov5.py 1KB train_val_split.py 923B torch_utils.py 798B yolox_yolo3d_test.py 443B model_utils.py 353B test.py 150B __init__.py 0B dataloader_test.py 0B __init__.py 0B __init__.py 0B backbone3d.py 0B __init__.py 0B yolo_head.cpython-38.pyc 18KB yolo_head.cpython-37.pyc 17KB yolo3d_head.cpython-38.pyc 16KB yolo3d_head.cpython-37.pyc 16KB kitti_data_utils.cpython-38.pyc 15KB kitti_data_utils.cpython-37.pyc 15KB transformation.cpython-37.pyc 13KB transformation.cpython-38.pyc 13KB visualization_utils.cpython-38.pyc 12KB evaluation_utils.cpython-37.pyc 10KB visualization_utils.cpython-37.pyc 10KB iou_rotated_boxes_utils.cpython-37.pyc 10KB iou_rotated_boxes_utils.cpython-38.pyc 10KB kitti_dataset.cpython-37.pyc 9KB losses.cpython-37.pyc 9KB boxes.cpython-38.pyc 9KB losses.cpython-38.pyc 8KB train_utils.cpython-37.pyc 8KB boxes.cpython-37.pyc 8KB net_blocks.cpython-37.pyc 8KB yolo_layer.cpython-38.pyc 8KB yolo_layer.cpython-37.pyc 7KB net_blocks.cpython-38.pyc 7KB kitti_bev_utils.cpython-37.pyc 6KB kitti_bev_utils.cpython-38.pyc 5KB cal_intersection_rotated_boxes.cpython-38.pyc 5KB cal_intersection_rotated_boxes.cpython-37.pyc 5KB darknet.cpython-37.pyc 5KB darknet.cpython-38.pyc 5KB kitti_dataloader.cpython-37.pyc 4KB lr_scheduler.cpython-37.pyc 4KB misc.cpython-37.pyc 3KB configs.cpython-38.pyc 3KB yolo_fpn.cpython-38.pyc 3KB yolo_pan.cpython-38.pyc 2KB yolo_pan.cpython-37.pyc 2KB yolov5_head.cpython-38.pyc 2KB yolov5_head.cpython-37.pyc 2KB logger.cpython-37.pyc 2KB yolo3dx.cpython-37.pyc 1KB yolov5.cpython-37.pyc 1KB yolox.cpython-38.pyc 1KB yolox.cpython-37.pyc 1KB kitti_config.cpython-38.pyc 1KB kitti_config.cpython-37.pyc 1KB torch_utils.cpython-38.pyc 1KB torch_utils.cpython-37.pyc 1KB yolov5.cpython-38.pyc 934B coco_classes.cpython-38.pyc 869B coco_classes.cpython-37.pyc 829B model_utils.cpython-37.pyc 718B __init__.cpython-38.pyc 154B __init__.cpython-38.pyc 148B __init__.cpython-38.pyc 147B共 104 条
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