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HXMap / MapQR

[ECCV 2024] This is the official implementation of MapQR, an end-to-end method with an emphasis on enhancing query capabilities for constructing online vectorized maps.
https://arxiv.org/abs/2402.17430
MIT License
163 stars 8 forks source link

queue_length is 1 #5

Closed canteen-man closed 5 months ago

canteen-man commented 5 months ago

你好 MapTR和MapTR-V2的queue_lenght都是1，MapQR的config里也是1，所以MapQR也没有实际应用CAN吗 谢谢

fishmarch commented 5 months ago

Yes, as MapTR, we do not utilise temporal information in MapQR for this version. But, can_bus signals are fused into bev queries , copied from BEVFormer, although I think can_bus contributes little here.

canteen-man commented 5 months ago

你好，感谢你的回复 是因为bevformer用hybrid 2d的temporal self attention在实际对比试验里没有太大提升，所以就都没有用hybrid 2d的TSA去训练吗。 MapTR和MapTR-V2论文里的指标也都是没有用上hybrid 2d的TSA。 谢谢

fishmarch commented 5 months ago

Actually, I remember we get some improvements when using temporal self attention, but we do not add this temporal information to keep consistent with MapTR.

canteen-man commented 5 months ago

谢谢 感谢你的帮助