Highlights

• Support TPVFormer in projects (#2399, #2517, #2535)
• Support the training of BEVFusion in projects (#2546)
• Support lidar-based 3D semantic segmentation benchmark (#2530, #2559)

New Features

• Support TPVFormer in projects (#2399, #2517, #2535)
• Support the training of BEVFusion in projects (#2558)
• Support lidar-based 3D Semantic Segmentation Benchmark (#2530, #2559)
• Support test-time augmentation for Segmentor (#2382)
• Support Minkowski ConvModule and Residual Block (#2528)
• Support the visualization of multi-view images in multi-modal methods (#2453)

Improvements

• Upload checkpoints and training log of PETR (#2555)
• Replace np.float by default float in segmentation evaluation (#2527)
• Add docs of converting SemanticKITTI datasets (#2515)
• Support different colors for different classes in visualization (#2500)
• Support tensor-like operations for BaseInstance3DBoxes and BasePoint(#2501)
• Add information of LiDAR Segmentation in NuScenes annotation files
• Provide annotation files of datasets generated offline (#2457)
• Refactor document structure (#2429)
• Complete typehints and docstring (#2396, #2457, #2468, #2464, #2485)

Bug Fixes

• Fix the bug of abnormal loss when training SECOND in Automatic mixed precision(AMP) mode (#2452)
• Add a warning in function post_process_coords in mmdet3d/dataset/convert_utils.py (#2557)
• Fix invalid configs (#2477, #2536)
• Fix bugs of unit test (#2466)
• Update local-rank argument in test.py for pytorch 2.0 (#2469)
• Fix docker file (#2451)
• Fix demo and visualization (#2453)
• Fix SUN RGB-D data converter (#2440)
• Fix readthedocs building (#2459, #2419, #2505, #2396)
• Fix CI (#2445,#2424)
• Loose the version restriction of numba (#2416)

Contributors

A total of 12 developers contributed to this release.

@sunjiahao1999, @Xiangxu-0103, @JingweiZhang12, @chriscarving, @jaan1729, @pd-michaelstanley, @filaPro, @kabouzeid, @A-new-b, @lbin, @Lum1104, @pd-michaelstanley

New contributors

• @A-new-b made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2485
• @lbin made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2557
• @Lum1104 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2464
• @jaan1729 made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2451
• @pd-michaelstanley made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2442
• @chriscarving made their first contribution in https://github.com/open-mmlab/mmdetection3d/pull/2396

Full Changelog: https://github.com/open-mmlab/mmdetection3d/compare/v1.1.0...v1.1.1