SAM3D: Zero-Shot 3D Object Detection via Segment Anything Model [Arxiv]

Motivation of this project

With the development of large language models, many remarkable linguistic systems like ChatGPT have thrived and achieved astonishing success on many tasks, showing the incredible power of foundation models. In the spirit of unleashing the capability of foundation models on vision tasks, the Segment Anything Model (SAM), a vision foundation model for image segmentation, has been proposed recently and presents strong zero-shot ability on many downstream 2D tasks. However, whether SAM can be adapted to 3D vision tasks is still unknown, especially 3D object detection.

What we do in this project

We explore adapting the zero-shot ability of SAM to 3D object detection in this project, and the project is still in progress.

Installation

We use pytorch==1.12.1, cuda==11.3. We build this project based on MMDetection3D (ver. 1.1.0rc3) and segment-anything (commit 6fdee8f).

1. install waymo-open-dataset:

   pip install waymo-open-dataset-tf-2-6-0
   

2. install MMDetection3D:

    pip install -U openmim
    mim install 'mmengine==0.7.2'
    mim install 'mmcv==2.0.0'
    mim install 'mmdet==3.0.0'
   
    git clone https://github.com/open-mmlab/mmdetection3d.git
    cd mmdetection3d
    git checkout 341ff99  # mmdet3d 1.1.0rc3
    pip install -v -e .
   

3. install segment-anything:

   pip install git+https://github.com/facebookresearch/segment-anything.git
   

4. install other dependices:

   pip install -r requirements.txt
   

Data preparation

Since our project explores the zero shot setting, we do not need to pre-process the training data. We rougly follow the data preparation set up in MMDetection3D Data Preparation Guide but do some minor modifications.

1. organize the raw data like:

    .
    └── data
        └── waymo
            └── waymo_format
                └── validation
                    └── *.tfrecord
                └── gt.bin (optional)
   

2. run command:

   CUDA_VISIBLE_DEVICES=-1 python tools/create_data.py waymo --root-path ./data/waymo/ --out-dir ./data/waymo/ --workers 128 --extra-tag waymo
   

   Note: Since evaluation on waymo dataset needs the ground truth bin file for validation set, you need to put the .bin file into data/waymo/waymo_format. If you do not have the access to it, you can add --gen-gt-bin argument to the above command:

   CUDA_VISIBLE_DEVICES=-1 python tools/create_data.py waymo --root-path ./data/waymo/ --out-dir ./data/waymo/ --workers 128 --extra-tag waymo --gen-gt-bin
   

   this will automatically generate gt.bin file (may different from the official version in some respects) into data/waymo/waymo_format.
3. after the pre-processing, the data folder will be organized as:

   .
    └── data
        └── waymo
            ├── kitti_format
            │   ├── ImageSets
            │   ├── training
            │   └── waymo_infos_val.pkl
            └── waymo_format
                ├── gt.bin
                └── validation
   

Partial validation set preparation

Because it's time-consuming to evaluate on the whole waymo validation set, we modify the create_data.py to support pre-processing partial validation set. You can put any number of *.tfrecord into data/waymo/waymo_format/validation/ and run command above, it will automatically generate the ImageSets/val.txt and corresponding gt.bin.

Inference

Pre-trained weights

We use the pre-trained SAM in our project, so go to segment-anything model checkpoints to download weights and put them into projects/pretrain_weights.

Zero-shot inference

1. generate the fake weights for loading (only a trick to run the test.py with a fake weights, and only need to run once).

   python projects/generate_fake_pth.py
   

2. run the command to inference and evaluate the method:

   python tools/test.py projects/configs/sam3d_intensity_bev_waymo_car.py fake.pth 
   

Results

• Quantitative results: Tested on single NVIDIA GeForce RTX 4090 with pytorch==1.12.1, cuda==11.3, log

  Metric	mAP	mAPH
  RANGE_TYPE_VEHICLE_[0, 30)_LEVEL_1	19.51	13.30
  RANGE_TYPE_VEHICLE_[0, 30)_LEVEL_2	19.05	12.98

• Qualitative results:

What's next

Although our method is only an initial attempt, we believe it shows the great possibility and opportunity to unleash the potential of foundation models like SAM on 3D vision tasks, especially on 3D object detection. With technologies like few-shot learning and prompt engineering, we can take advantage of vision foundation models more effectively to better solve 3D tasks, especially considering the vast difference between scales of 2D and 3D data.

Citation

@article{zhang2023sam3d,
  title={SAM3D: Zero-Shot 3D Object Detection via Segment Anything Model},
  author={Zhang, Dingyuan and Liang, Dingkang and Yang, Hongcheng and Zou, Zhikang and Ye, Xiaoqing and Liu, Zhe and Bai, Xiang},
  journal={Science China Information Sciences},
  year={2023}
}

Acknowledgement

• MMDetection3D
• segment-anything
• OCR-SAM