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BIT-MJY / CVTNet

[TII 2023] A Cross-View Transformer Network for LiDAR-Based Place Recognition in Autonomous Driving Environments.
MIT License
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Code error in cvtnet.py #9

Closed where2go947 closed 6 months ago

where2go947 commented 6 months ago

Hello, thanks for your great work. I'm inspired by the design of rotation invariance.

However, there seems to be a small mistake when organizing code to publish in CVTNet/modules/cvtnet.py.

https://github.com/BIT-MJY/CVTNet/blob/23c5b288fa2afad584e0718eaab1c97954bee6f7/modules/cvtnet.py#L265-L270

In Line-267: 

feature_bev_enhanced = self.net_vlad_ri(feature_bev)

is supposed to be 

feature_bev_enhanced = self.net_vlad_bev(feature_bev)

Best regards

BIT-MJY commented 6 months ago

@where2go947 Thanks! We found this bug while developing but, we were happy with the results with the current form.

I currently have no time to train a new version and test. Welcome to post more results after replacing it with net_vlad_bev :)