PV-RCNN: The Top-Performing LiDAR-only Solutions for 3D Detection / 3D Tracking / Domain Adaptation of Waymo Open Dataset Challenges

Understand

In this technical report, we present the top-performing LiDAR-only solutions for 3D detection, 3D tracking and domain adaptation three tracks in Waymo Open Dataset Challenges 2020.

• Our solutions for the competition are built upon our recent proposed PV-RCNN 3D object detection framework.
• Several variants of our PV-RCNN are explored, including temporal information incorporation, dynamic voxelization, adaptive training sample selection, classification with RoI features, etc.
• A simple model ensemble strategy with non-maximum-suppression and box voting is adopted to generate the final results.