---
license: mit
language:
- en
metrics:
- mean_iou
pipeline_tag: object-detection
tags:
- LIDAR
- Pointcloud
- Autnonomous
- YOLO
---

# **YOLOv12n LiDAR BEV Object Detection Model**  

## **Model Overview**  
This is a custom-trained **YOLOv12n** model for object detection on **Bird’s Eye View (BEV) RGB images** generated from **LiDAR 3D point cloud data**. The dataset used for training is derived from the **KITTI dataset**, converted from raw LiDAR point cloud data to 2D BEV images.  

## **Dataset**  
- **Source:** KITTI Dataset  
- **Preprocessing:** LiDAR point clouds converted into **2D RGB BEV images**  
- **Custom Labels:** Created for training  

## **Training Details**  
- **Training Platform:** Kaggle Notebook  
- **Epochs:** 300 (Continual learning)  
- **Batch Size:** 32  
- **Input Image Size:** 608 × 608  
- **Compute:** 2× NVIDIA T4 GPUs (Distributed Training)  
- **Training Time:** 14.5 hours  
- **Optimizer:** AdamW  

## **Data Augmentation & Training Arguments**  
The model was trained with the following augmentations and hyperparameters:  
```python
results = model.train(
    data=os.path.join(Dataset_folder, "data.yaml"),
    epochs=500,
    imgsz=608,
    plots=True,
    batch=batch_size,
    save=True,
    save_period=100,
    device="cuda",
    workers=4,
    project=Folder_name,
    seed=2005,
    copy_paste=0.15,
    optimizer="AdamW",
    mosaic=1.0,
    scale=0.9,
    verbose=True,
    resume=True,
    patience=100,
    cache=True,
    amp=True
)
```

## **Usage**  
To use this model for inference, load it using the Ultralytics YOLOv12 framework:  
```python
from ultralytics import YOLO

model = YOLO("path/to/your/yolov12n.pt")
results = model("path/to/your/image.jpg")
results.show()
```

## **Performance & Applications**  
- Designed for **autonomous driving** and **LiDAR-based perception**  
- Capable of detecting objects from **BEV RGB images** derived from **3D LiDAR data**  
- Suitable for **real-time object detection** in self-driving applications  

## **License**  
- mit
  
## **language**
- english
  
## **metrics**
- mean_iou
  
## **pipeline_tag**
- object-detection
  
## **tags**
- autonomous
- selfdriving
- LiDaR
- Kitti