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Description

Model to detect one or more objects from a LIDAR point cloud file and return 3D bounding boxes.

Publisher

NVIDIA

Latest Version

deployable_v1.1

Modified

November 27, 2024

Size

5.31 MB

PointPillars Model Card

Description:

PointPillarNet detects objects from a LIDAR point cloud file. This model is ready for commercial use.

References:

Using TAO Pre-trained Models

Get TAO Container
Get other purpose-built models from the NGC model registry:

Model Architecture:

Architecture Type: Convolution Neural Network (CNN)
Network Architecture: PointPillars Architecture

Input:

Input Type(s): Point Cloud File
Input Format(s): Lidar
Input Parameters: Points, Num_Points
Other Properties Related to Input:

Points have the shape (N, P, 4), where N is the batch size, P is the maximum number of points in a point cloud file in the dataset., and N is the number of features per point.
Num_Points is the actual number of points in each point cloud file. It has the shape (N), where N is the batch size as above.

Output:

Output Type(s): Label(s), Bounding-Box(es), Confidence Scores
Output Format: Label: Text String(s); Bounding Box: (x-coordinate, y-coordinate, z-coordinate, width, height, depth), Confidence Scores: Floating Point
Other Properties Related to Output: Category Label(s): (Vehicle, Pedestrian, Cyclist); Bounding Box Coordinates; Confidence Scores

Software Integration:

Runtime Engine(s):

TAO - 5.2
DeepStream 6.1 or later

Supported Hardware Architecture(s):

Ampere
Jetson
Hopper
Lovelace
Pascal
Turing
Volta

Supported Operating System(s):

Linux
Linux 4 Tegra

Model Version(s):

deployable_v1.0
trainable_v1.0

Training & Evaluation:

Training Dataset:

Data Collection Method by dataset:

Automatic/Sensors

Labeling Method by dataset:

Human

Properties:
7481 training images of 80,256 labeled objects from a proprietary LIDAR point cloud dataset of vehicles, pedestrians, and cyclists, and other elements of road scenery collected by a solid state LIDAR.

Methodology and KPI

The key performance indicator is the mean average precision(mAP) object detection in 3D or Bird's-Eye View(BEV). The KPI for the evaluation data are reported in the table below.

Model	Dataset	mAP BEV/3D
`pointpillars_trainable.tlt`	proprietary dataset	65.2167%/51.7159%
`pointpillars_deployable.etlt`	proprietary dataset	66.6860%/52.8530%

Evaluation Dataset:

Data Collection Method by dataset:

Automatic/Sensors

Labeling Method by dataset:

Human

Properties:
7581 training images of 80,256 labeled objects from a proprietary LIDAR point cloud dataset of vehicles, pedestrians, and cyclists, and other elements of road scenery collected by a solid state LIDAR.

Inference:

Engine: Tensor(RT)
Test Hardware:

Jetson AGX Xavier
Xavier NX
Orin
Orin NX
NVIDIA T4
Ampere GPU
A2
A30
L4
T4
DGX H100
DGX A100
DGX H100
L40
JAO 64GB
Orin NX16GB
Orin Nano 8GB

The inference is run on the provided deployable models at FP16 precision. The Jetson devices run at Max-N configuration for maximum system performance. The performance shown below is only for inference of the usa deployable(pruned) model. As a comparison, we also show the inference performance of the unpruned model(not available here).

Model	Device	Precision	Batch_size	FPS
Pruned	Xavier	FP16	1	39
Unpruned	Xavier	FP16	1	31

How to use this model

These models need to be used with NVIDIA Hardware and Software. For Hardware, the models can run on any NVIDIA GPU including NVIDIA Jetson devices. These models can only be used with Train Adapt Optimize (TAO) Toolkit, or TensorRT.

Primary use case intended for these models is detecting objects in a point cloud file.

Totally there are two models provided:

pointpillars_trainable.tlt
pointpillars_deployable.etlt

The trainable models are intended for training and fine-tuning using TAO Toolkit along with the user's dataset of point cloud. High fidelity models can be trained and adapted to the use case.

The usa deployable models are intended for easy deployment to the edge using TensorRT.

The trainable and deployable models are encrypted and can be decrypted with the following key:

Model load key: tlt_encode

Please make sure to use this as the key for all TAO commands that require a model load key.

Instructions to use trainable model with TAO Toolkit

In order to use these models as a pre-trained model for transfer learning, please use the snippet below as template for the OPTIMIZATION component of the config file to train a PointPillars model. For more information on the config file, please refer to the TAO Toolkit User Guide.

Set PRETRAINED_MODEL_PATH in OPTIMIZATION parameter

  PRETRAINED_MODEL_PATH: "/path/to/the/model.tlt"

Instructions to deploy these models with TensorRT

PointPillars model can be deployed in TensorRT with the TensorRT C++ sample with TensorRT 8.2.

As a dependency, the TensorRT sample requires the TensorRT OSS 22.02 to be installed.

Detailed steps are shown below.

Install TensorRT 8.2 or use pre-installed one if it is already installed.
Install TensorRT OSS 22.02.

git clone -b 22.02 https://github.com/NVIDIA/TensorRT.git TensorRT
cd TensorRT
git submodule update --init --recursive
mkdir -p build && cd build
cmake .. -DCUDA_VERSION=$CUDA_VERSION -DGPU_ARCHS=$GPU_ARCHS
make nvinfer_plugin -j$(nproc)
cp libnvinfer_plugin.so.8.2.* /usr/lib/x86_64-linux-gnu/libnvinfer_plugin.so.8.2.3
cp libnvinfer_plugin_static.a /usr/lib/x86_64-linux-gnu/libnvinfer_plugin_static.a

Train the model in TAO Toolkit and export to the .etlt model.
Generate TensorRT engine on target device with tao-converter.

tao-converter  -k $KEY  \
               -e $USER_EXPERIMENT_DIR/trt.fp16.engine \
               -p points,1x204800x4,1x204800x4,1x204800x4 \
               -p num_points,1,1,1 \
               -t fp16 \
               pointpillars_deployable.etlt

Clone, build and run the C++ sample.

cd ~
git clone https://github.com/NVIDIA-AI-IOT/tao_toolkit_recipes.git
cd tao_toolkit_recipes
git lfs pull
cd tao_pointpillars/tensorrt_sample/test
mkdir build
cd build
cmake .. -DCUDA_VERSION=<CUDA_VERSION>
make -j8
./pointpillars -e /path/to/tensorrt/engine -l ../../data/102.bin  -t 0.01 -c Vehicle,Pedestrain,Cyclist -n 4096 -p -d fp16

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Ethical Considerations:

NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. When downloaded or used in accordance with our terms of service, developers should work with their internal model team to ensure this model meets requirements for the relevant industry and use case and addresses unforeseen product misuse. For more detailed information on ethical considerations for this model, please see the Model Card++ Promise and the Explainability, Bias, Safety & Security, and Privacy Subcards.

PointPillarNet