SAF-FCOS: Spatial Attention Fusion for Obstacle Detection using MmWave Radar and Vision Sensor;
Shuo Chang, YiFan Zhang, Fan Zhang, Xiaotong Zhao, Sai Huang, ZhiYong Feng and Zhiqing Wei;
In: Sensors, 2019.

FCOS for non-commercial purposes

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mkdir ~/Data/nuScenes
mv AllDownloadTarFiles ~/Data/nuScenes
cd ~/Data/nuScenes
for f in *.tar; do tar -xvf "$f"; done

python tools/nuscenes/convert_radar_point_to_image.py --dataroot ~/Data/nuScenes --version v1.0-mini
python tools/nuscenes/convert_radar_point_to_image.py --dataroot ~/Data/nuScenes --version v1.0-trainval
python tools/nuscenes/convert_radar_point_to_image.py --dataroot ~/Data/nuScenes --version v1.0-test

python tools/nuscenes/extract_pc_image_norm_info_from_image.py --datadir ~/Data/nuScenes --outdir ~/Data/nuScenes/v1.0-trainval

mv fcos.zip ~/Data/nuScenes
unzip fcos.zip

python tools/nuscenes/generate_2d_annotations_by_fcos.py --datadir ~/Data/nuScenes --outdir ~/Data/nuScenes/v1.0-trainval

python -m torch.distributed.launch \
       --nproc_per_node=8 \
       --master_port=$((RANDOM + 10000)) \
       tools/train_net.py \
       --config-file configs/fcos_nuscenes/fcos_imprv_R_101_FPN_1x_ATTMIX_135_Circle_07.yaml \
       DATALOADER.NUM_WORKERS 2 \
       OUTPUT_DIR tmp/fcos_imprv_R_50_FPN_1x

python -m torch.distributed.launch \
       --nproc_per_node=8  
       --master_port=$((RANDOM + 10000)) \
       tools/test_epoch.py \
       --config-file configs/fcos_nuscenes/fcos_imprv_R_101_FPN_1x_ATTMIX_135_Circle_07.yaml \
       --checkpoint-file tmp/fcos_imprv_R_50_FPN_1x_ATTMIX_135_Circle_07/model_0010000.pth \ 
       OUTPUT_DIR tmp/fcos_imprv_R_101_FPN_1x_ATTMIX_135_Circle_07

@article{chang2020spatial,
  title={Spatial Attention fusion for obstacle detection using mmwave radar and vision sensor},
  author={Chang, Shuo and Zhang, Yifan and Zhang, Fan and Zhao, Xiaotong and Huang, Sai and Feng, Zhiyong and Wei, Zhiqing},
  journal={Sensors},
  volume={20},
  number={4},
  pages={956},
  year={2020},
  publisher={Multidisciplinary Digital Publishing Institute}
}
@inproceedings{tian2019fcos,
  title   =  {{FCOS}: Fully Convolutional One-Stage Object Detection},
  author  =  {Tian, Zhi and Shen, Chunhua and Chen, Hao and He, Tong},
  booktitle =  {Proc. Int. Conf. Computer Vision (ICCV)},
  year    =  {2019}
}