diff --git a/.gitignore b/.gitignore
index 09e33e055dd71dcd5eca6dfe9c9891c4e8a45fc5..1f80847c12e867561b882b4bd53c1e87b6554476 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,6 @@
 outputs/*
 *.pyc
+tools/Kitti2Coco/labels2coco/*
+tools/Kitti2Coco/trainvalno5k-kitti.txt
+*.pkl
+dino/
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..046abd3f2f2393981153afb368e538a6ebb5c4b3
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,161 @@
+FROM nvidia/cuda:10.1-cudnn7-devel-ubuntu18.04
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+ARG CMAKE_VERSION=3.16
+ARG CMAKE_BUILD=5
+ARG PYTHON_VERSION=3.6
+ARG TORCH_VERSION=1.8.1
+ARG TORCHVISION_VERSION=0.9.1
+
+RUN APT_INSTALL="apt-get install -y --no-install-recommends" && \
+    PIP_INSTALL="python -m pip --no-cache-dir install --upgrade" && \
+    GIT_CLONE="git clone --recursive" && \
+
+    rm -rf /var/lib/apt/lists/* \
+           /etc/apt/sources.list.d/cuda.list \
+           /etc/apt/sources.list.d/nvidia-ml.list && \
+
+    apt-get update && \
+
+# ==================================================================
+# tools
+# ------------------------------------------------------------------
+
+    DEBIAN_FRONTEND=noninteractive $APT_INSTALL \
+        build-essential \
+        apt-utils \
+        ca-certificates \
+        wget \
+        git \
+        vim \
+        libssl-dev \
+        curl \
+        unzip \
+        unrar \
+        ffmpeg \
+        libsm6 \
+        libxext6 \
+        && \
+
+    wget -O ~/cmake.tar.gz \
+        https://cmake.org/files/v${CMAKE_VERSION}/cmake-${CMAKE_VERSION}.${CMAKE_BUILD}.tar.gz && \
+    tar -C ~/ -xzf ~/cmake.tar.gz && \
+    cd ~/cmake-${CMAKE_VERSION}.${CMAKE_BUILD} && \
+    ./bootstrap && \
+    make -j$(nproc) install
+
+# ==================================================================
+# python
+# ------------------------------------------------------------------
+RUN APT_INSTALL="apt-get install -y --no-install-recommends" && \
+    PIP_INSTALL="python -m pip --no-cache-dir install --upgrade" && \
+    GIT_CLONE="git clone --recursive" && \
+    DEBIAN_FRONTEND=noninteractive $APT_INSTALL \
+        software-properties-common \
+        && \
+    add-apt-repository ppa:deadsnakes/ppa && \
+    apt-get update && \
+    DEBIAN_FRONTEND=noninteractive $APT_INSTALL \
+        python${PYTHON_VERSION} \
+        python${PYTHON_VERSION}-dev \
+        python3-distutils-extra \
+        && \
+    wget -O ~/get-pip.py \
+        https://bootstrap.pypa.io/get-pip.py && \
+    python${PYTHON_VERSION} ~/get-pip.py && \
+    ln -s /usr/bin/python${PYTHON_VERSION} /usr/local/bin/python3 && \
+    ln -s /usr/bin/python${PYTHON_VERSION} /usr/local/bin/python
+
+# ==================================================================
+# dependencies
+# ------------------------------------------------------------------
+RUN APT_INSTALL="apt-get install -y --no-install-recommends" && \
+    PIP_INSTALL="python -m pip --no-cache-dir install --upgrade" && \
+    GIT_CLONE="git clone --recursive" && \
+    $PIP_INSTALL \
+        cachetools \
+        easydict \
+        enum34 \
+        future \
+        motmetrics \
+        numba \
+        numpy \
+        opencv-python \
+        pillow \
+        protobuf \
+        psutil \
+        pybind11 \
+        pyquaternion \
+        pyyaml \
+        seaborn \
+        scikit-learn \
+        scikit-image \
+        scipy \
+        setuptools \
+        shapely \
+        tensorboardX \
+        tqdm \
+        typing \
+        requests \
+        && \
+
+# ==================================================================
+# pytorch
+# ------------------------------------------------------------------
+
+    $PIP_INSTALL \
+        torch==$TORCH_VERSION \
+        torchvision==$TORCHVISION_VERSION
+
+# ==================================================================
+# spconv
+# ------------------------------------------------------------------
+
+RUN APT_INSTALL="apt-get install -y --no-install-recommends" && \
+    PIP_INSTALL="python -m pip --no-cache-dir install --upgrade" && \
+    GIT_CLONE="git clone --recursive" && \
+    DEBIAN_FRONTEND=noninteractive $APT_INSTALL \
+        libsm6 libxext6 libxrender-dev \
+        libboost-all-dev && \
+
+# ==================================================================
+# config & cleanup
+# ------------------------------------------------------------------
+
+    cd && \
+    ldconfig && \
+    apt-get clean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/* \
+        /tmp/* \
+        ~/*
+
+# ==================================================================
+# environment setup
+# ------------------------------------------------------------------
+
+ARG LOST_ROOT=/root/lost
+ENV LOST_ROOT=$LOST_ROOT
+
+ARG NUSC_ROOT=/root/nusc
+ENV NUSC_ROOT=$NUSC_ROOT
+
+ARG CADC_ROOT=/root/cadc
+ENV CADC_ROOT=$CADC_ROOT
+
+ARG KITTI_ROOT=/root/kitti
+ENV KITTI_ROOT=$KITTI_ROOT
+
+ARG LOGDIR=/root/logdir
+ENV LOGDIR=$LOGDIR
+
+ENV PYTHONPATH=$PYTHONPATH:$LOST_ROOT
+ENV PYTHONPATH=$PYTHONPATH:$NUSC_ROOT/nuscenes-devkit/python-sdk
+
+# TODO: Create dataset symlinks for datasets
+
+VOLUME ["$LOST_ROOT", "$CADC_ROOT", "$NUSC_ROOT", "$KITTI_ROOT", "$LOGDIR"]
+WORKDIR /root/
+
+ENTRYPOINT ["bash"]
diff --git a/docker/README.md b/docker/README.md
new file mode 100755
index 0000000000000000000000000000000000000000..ae4ede480526bce4d8b77bfcc35a90d9b8673655
--- /dev/null
+++ b/docker/README.md
@@ -0,0 +1,47 @@
+# LOST Docker
+The following docker files and scripts were adapted from PCDet
+# Docker Support
+## Preparation
+Before building the docker image, make sure to check the
+configurations in `config.sh`. 
+You may need to change the `HOST_*` variables
+to the **absolute** paths of the corresponding directories.
+```bash
+# In config.sh
+HOST_PCDET_ROOT=...     # PCDet location, i.e. the repo itself
+HOST_NUSC_ROOT=...      # NuScenes dataset that contains nuscenes-devkit
+                        # and data directory (e.g. v1.0-mini)
+HOST_CADC_ROOT=...      # CADC dataset directory
+HOST_LOGDIR=...         # Output location
+                        # can be used to store model checkpoints etc.
+```
+Also, you need to make sure that the file structure of the dataset 
+match the outline in `docs/INSTALL.md`.
+
+## Build Docker Image
+Use the provided script to build the docker image.
+The name of the image is by default `pcdet-standalone`.
+```bash
+bash build.sh
+```
+This process should take a few minutes.
+
+## Run Docker Container
+Use the provided script to run the docker container.
+The name of the container is by default `pcdet-standalone.$(whoami).$RANDOM`.
+```bash
+bash run.sh
+```
+Additional arguments for `docker run` can be passed directly.
+For example
+```bash
+bash run.sh --cpuset-cpus=0,1
+```
+
+The following directories from host will be mounted to the container's workspace:
+```bash
+HOST_PCDET_ROOT  =>  PCDET_ROOT     # `/root/pcdet` by default
+HOST_NUSC_ROOT   =>  NUSC_ROOT      # `/root/nusc` by default
+HOST_CADC_ROOT   =>  CADC_ROOT      # `/root/cadc` by default
+HOST_LOGDIR      =>  LOGDIR         # `/root/logdir` by default
+```
\ No newline at end of file
diff --git a/docker/build.sh b/docker/build.sh
new file mode 100755
index 0000000000000000000000000000000000000000..559f3840211972bfba9a38e233a9085870c6add0
--- /dev/null
+++ b/docker/build.sh
@@ -0,0 +1,15 @@
+#! /usr/bin/env bash
+source config.sh
+
+docker build . \
+    --build-arg CMAKE_VERSION=${CMAKE_VERSION} \
+    --build-arg CMAKE_BUILD=${CMAKE_BUILD} \
+    --build-arg PYTHON_VERSION=${PYTHON_VERSION} \
+    --build-arg TORCH_VERSION=${TORCH_VERSION} \
+    --build-arg TORCHVISION_VERSION=${TORCHVISION_VERSION} \
+    --build-arg LOST_ROOT=${LOST_ROOT} \
+    --build-arg NUSC_ROOT=${NUSC_ROOT} \
+    --build-arg CADC_ROOT=${CADC_ROOT} \
+    --build-arg KITTI_ROOT=${KITTI_ROOT} \
+    --build-arg LOGDIR=${LOGDIR} \
+    -t lost-ece613
diff --git a/docker/config.sh b/docker/config.sh
new file mode 100755
index 0000000000000000000000000000000000000000..7e43809eeaedde31b2fb8699dbf43d7a630a0dae
--- /dev/null
+++ b/docker/config.sh
@@ -0,0 +1,24 @@
+#! /usr/bin/env bash
+
+DATASET_ROOT_PATH=
+
+# Build component versions
+CMAKE_VERSION=3.16
+CMAKE_BUILD=5
+PYTHON_VERSION=3.7
+TORCH_VERSION=1.8.1
+TORCHVISION_VERSION=0.9.1
+
+# Workspace structure in docker
+LOST_ROOT=/root/lost
+NUSC_ROOT=/root/nusc
+CADC_ROOT=/root/cadc
+KITTI_ROOT=/root/kitti
+LOGDIR=/root/logdir
+
+# Workspace structure on host machine
+HOST_LOST_ROOT=/home/sdelcore/wiselab/ece613-lost
+HOST_NUSC_ROOT=/home/sdelcore/datasets/nuscenes
+HOST_CADC_ROOT=/home/sdelcore/datasets/cadc
+HOST_KITTI_ROOT=/home/sdelcore/datasets/kitti
+HOST_LOGDIR=/home/sdelcore/datasets/logdir
\ No newline at end of file
diff --git a/docker/install_cmake.sh b/docker/install_cmake.sh
new file mode 100644
index 0000000000000000000000000000000000000000..80c26a0e9dcdc41fd6a3f32507e139b44ebf3112
--- /dev/null
+++ b/docker/install_cmake.sh
@@ -0,0 +1,20 @@
+#! /usr/bin/env bash
+
+# Remove current version
+sudo apt purge --auto-remove cmake
+# https://askubuntu.com/questions/355565/how-do-i-install-the-latest-version-of-cmake-from-the-command-line
+version=3.16
+build=5
+mkdir ~/temp
+cd ~/temp
+wget https://cmake.org/files/v$version/cmake-$version.$build.tar.gz
+tar -xzvf cmake-$version.$build.tar.gz
+cd cmake-$version.$build/
+# install
+cd ~/temp/cmake-$version.$build
+./bootstrap
+make -j$(nproc)
+sudo make install
+# Check the version
+cmake --version
+
diff --git a/docker/install_spconv.sh b/docker/install_spconv.sh
new file mode 100644
index 0000000000000000000000000000000000000000..f21f83460b673d51dfc03b968134349e30d1ac77
--- /dev/null
+++ b/docker/install_spconv.sh
@@ -0,0 +1,28 @@
+#! /usr/bin/env bash
+
+# Ubuntu 18.04
+# Step 0: Clone repo
+echo "Enter FULL path of where to clone spconv"
+read spconv_path
+cd $spconv_path
+git clone git@github.com:traveller59/spconv.git --recursive
+# checkout older spconv 1.0
+cd $spconv_path/spconv/
+git checkout 8da6f967fb9a054d8870c3515b1b44eca2103634
+# Step 1: Install boost headers
+sudo apt-get install libboost-all-dev
+# Step 2:
+cmake --version
+echo "if the cmake version above is < 3.13.2 then run update_cmake.bash!"
+echo "press enter"
+read tmp
+# Step 3: Run set up
+pip show torch
+echo "torch should be > 1.0!"
+echo "press enter"
+read tmp
+python setup.py bdist_wheel
+# Step 4: pip install the generated whl file
+cd $spconv_path/spconv/dist
+pip install spconv*.whl
+
diff --git a/docker/run.sh b/docker/run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..a5957f24df36de893e7e4782f2d317b43baecb0b
--- /dev/null
+++ b/docker/run.sh
@@ -0,0 +1,23 @@
+#! /usr/bin/env bash
+source config.sh
+
+docker run \
+    --name="lost-ece613.$(whoami).$RANDOM" \
+    --gpus=all \
+    --rm \
+    -it \
+    -v "${HOST_LOST_ROOT}":"${LOST_ROOT}" \
+    -v "${HOST_NUSC_ROOT}":"${NUSC_ROOT}" \
+    -v "${HOST_CADC_ROOT}":"${CADC_ROOT}" \
+    -v "${HOST_KITTI_ROOT}":"${KITTI_ROOT}" \
+    -v "${HOST_LOGDIR}":"${LOGDIR}" \
+    -e DISPLAY=$DISPLAY \
+    -e PUID=1000 \
+    -e PGID=1000 \
+    $@ \
+    lost-ece613
+    
+    #    -p 5000:8888 \
+#    -p 5001:6006 \
+#    -p 5002:8889 \
+#    -p 5003:8890 \