Height3D: A Roadside Visual Framework Based on Height Prediction in Real 3-D Space

Getting Started

• Installation
• Prepare Dataset

Train Height3D with 8 GPUs

python [EXP_PATH] --amp_backend native -b 8 --gpus 8

Eval Height3D with 1 GPU

python [EXP_PATH] --ckpt_path [CKPT_PATH] -e -b 1 --gpus 1

Acknowledgment

This project is not possible without the following codebases.

• BEVHeight
• DAIR-V2X

Citation

If you use Height3D in your research, please cite our work by using the following BibTeX entry:

@article{zhang2025height3d,
  title={Height3d: A roadside visual framework based on height prediction in real 3-d space},
  author={Zhang, Zhang and Sun, Chao and Wang, Bo and Guo, Bin and Wen, Da and Zhu, Tianyi and Ning, Qili},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2025},
  publisher={IEEE}
}