Question about "d_bound" in config file

ADLab-AutoDrive / BEVHeight

An official code release of our CVPR'23 paper, BEVHeight

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Question about "d_bound" in config file #40

Closed XJTU-Haolin closed 7 months ago

XJTU-Haolin commented 12 months ago

After comparing configs between DAIR and Rope3D, I found a big difference in "d_bound" of the Backbone config. I am not sure what is the exact meaning of "d_bound" (I guess the parameters are related to "height") and why different values are predefined for two datasets. How do we judge and define the values of "d_bound" for a new scene or custom dataset? depends on sensors, or camera pose?

Thanks for your time!

luqinwei commented 11 months ago

I have the same question. Did you solve it?

yanglei18 commented 7 months ago

@XJTU-Haolin d_bound indicates the height range of vehicles compared to a reference ground plane. In the BEVHeight codebase for the Rope3D dataset, the reference ground plane closely matches the real one. For the DAIR-V2X dataset, it's the horizontal plane of the Virtual LiDAR system, positioned higher than the actual ground.