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RVT: Recurrent Vision Transformers for Object Detection with Event Cameras

This is the official Pytorch implementation of the CVPR 2023 paper Recurrent Vision Transformers for Object Detection with Event Cameras.

Watch the video for a quick overview.

@InProceedings{Gehrig_2023_CVPR,
  author  = {Mathias Gehrig and Davide Scaramuzza},
  title   = {Recurrent Vision Transformers for Object Detection with Event Cameras},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year    = {2023},
}

Installation

Conda

We highly recommend to use Mambaforge to reduce the installation time.

conda create -y -n rvt python=3.9 pip
conda activate rvt
conda config --set channel_priority flexible

CUDA_VERSION=11.8

conda install -y h5py=3.8.0 blosc-hdf5-plugin=1.0.0 \
hydra-core=1.3.2 einops=0.6.0 torchdata=0.6.0 tqdm numba \
pytorch=2.0.0 torchvision=0.15.0 pytorch-cuda=$CUDA_VERSION \
-c pytorch -c nvidia -c conda-forge

python -m pip install pytorch-lightning==1.8.6 wandb==0.14.0 \
pandas==1.5.3 plotly==5.13.1 opencv-python==4.6.0.66 tabulate==0.9.0 \
pycocotools==2.0.6 bbox-visualizer==0.1.0 StrEnum==0.4.10
python -m pip install 'git+https://github.com/facebookresearch/detectron2.git'

Detectron2 is not strictly required but speeds up the evaluation.

Venv

Alternative to the conda installation.

python -m venv rvt
source rvt/bin/activate
python -m pip install -r torch-req.txt --index-url https://download.pytorch.org/whl/cu118
python -m pip install -r requirements.txt

Optionally, install Detectron2 within the activated venv

python -m pip install 'git+https://github.com/facebookresearch/detectron2.git'

Required Data

To evaluate or train RVT you will need to download the required preprocessed datasets:

1 Mpx Gen1
pre-processed dataset download download
crc32 c5ec7c38 5acab6f3

You may also pre-process the dataset yourself by following the instructions.

Pre-trained Checkpoints

1 Mpx

RVT-Base RVT-Small RVT-Tiny
pre-trained checkpoint download download download
md5 72923a a94207 5a3c78

Gen1

RVT-Base RVT-Small RVT-Tiny
pre-trained checkpoint download download download
md5 839317 840f2b a770b9

Evaluation

  • Set DATA_DIR as the path to either the 1 Mpx or Gen1 dataset directory

  • Set CKPT_PATH to the path of the correct checkpoint matching the choice of the model and dataset.

  • Set

    • MDL_CFG=base, or
    • MDL_CFG=small, or
    • MDL_CFG=tiny

    to load either the base, small, or tiny model configuration

  • Set

    • USE_TEST=1 to evaluate on the test set, or
    • USE_TEST=0 to evaluate on the validation set

  • Set GPU_ID to the PCI BUS ID of the GPU that you want to use. e.g. GPU_ID=0. Only a single GPU is supported for evaluation

1 Mpx

python validation.py dataset=gen4 dataset.path=${DATA_DIR} checkpoint=${CKPT_PATH} \
use_test_set=${USE_TEST} hardware.gpus=${GPU_ID} +experiment/gen4="${MDL_CFG}.yaml" \
batch_size.eval=8 model.postprocess.confidence_threshold=0.001

Gen1

python validation.py dataset=gen1 dataset.path=${DATA_DIR} checkpoint=${CKPT_PATH} \
use_test_set=${USE_TEST} hardware.gpus=${GPU_ID} +experiment/gen1="${MDL_CFG}.yaml" \
batch_size.eval=8 model.postprocess.confidence_threshold=0.001

Training

  • Set DATA_DIR as the path to either the 1 Mpx or Gen1 dataset directory

  • Set

    • MDL_CFG=base, or
    • MDL_CFG=small, or
    • MDL_CFG=tiny

    to load either the base, small, or tiny model configuration

  • Set GPU_IDS to the PCI BUS IDs of the GPUs that you want to use. e.g. GPU_IDS=[0,1] for using GPU 0 and 1. Using a list of IDS will enable single-node multi-GPU training. Pay attention to the batch size which is defined per GPU:

  • Set BATCH_SIZE_PER_GPU such that the effective batch size is matching the parameters below. The effective batch size is (batch size per gpu)*(number of GPUs).

  • If you would like to change the effective batch size, we found the following learning rate scaling to work well for all models on both datasets:

    lr = 2e-4 * sqrt(effective_batch_size/8).

  • The training code uses W&B for logging during the training. Hence, we assume that you have a W&B account.

    • The training script below will create a new project called RVT. Adapt the project name and group name if necessary.

1 Mpx

  • The effective batch size for the 1 Mpx training is 24.
  • To train on 2 GPUs using 6 workers per GPU for training and 2 workers per GPU for evaluation:
GPU_IDS=[0,1]
BATCH_SIZE_PER_GPU=12
TRAIN_WORKERS_PER_GPU=6
EVAL_WORKERS_PER_GPU=2
python train.py model=rnndet dataset=gen4 dataset.path=${DATA_DIR} wandb.project_name=RVT \
wandb.group_name=1mpx +experiment/gen4="${MDL_CFG}.yaml" hardware.gpus=${GPU_IDS} \
batch_size.train=${BATCH_SIZE_PER_GPU} batch_size.eval=${BATCH_SIZE_PER_GPU} \
hardware.num_workers.train=${TRAIN_WORKERS_PER_GPU} hardware.num_workers.eval=${EVAL_WORKERS_PER_GPU}

If you instead want to execute the training on 4 GPUs simply adapt GPU_IDS and BATCH_SIZE_PER_GPU accordingly:

GPU_IDS=[0,1,2,3]
BATCH_SIZE_PER_GPU=6

Gen1

  • The effective batch size for the Gen1 training is 8.
  • To train on 1 GPU using 6 workers for training and 2 workers for evaluation:
GPU_IDS=0
BATCH_SIZE_PER_GPU=8
TRAIN_WORKERS_PER_GPU=6
EVAL_WORKERS_PER_GPU=2
python train.py model=rnndet dataset=gen1 dataset.path=${DATA_DIR} wandb.project_name=RVT \
wandb.group_name=gen1 +experiment/gen1="${MDL_CFG}.yaml" hardware.gpus=${GPU_IDS} \
batch_size.train=${BATCH_SIZE_PER_GPU} batch_size.eval=${BATCH_SIZE_PER_GPU} \
hardware.num_workers.train=${TRAIN_WORKERS_PER_GPU} hardware.num_workers.eval=${EVAL_WORKERS_PER_GPU}

Works Built on This Project

Open a pull request if you would like to add your project here.

Code Acknowledgments

This project has used code from the following projects:

  • timm for the MaxViT layer implementation in Pytorch
  • YOLOX for the detection PAFPN/head