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HorizonRobotics / Sparse4D

MIT License
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Is it easy to deploy Sparse4D in NvidiaOrin? #39

Closed wutheringcoo closed 6 months ago

wutheringcoo commented 6 months ago

Hi, Do you test latency of the model with config: Res50 + 256x704? if the speed is too slowly, how to change sparse4D to sparse3d(it can alse support end2end track&detection), and performance metric will drop significantly？

linxuewu commented 6 months ago

We have not tried to deploy sparse4d to orin, only to the horizon journey series chips. There is not much difference in inference speed between sparse4d and sparse3d (single-frame model), and sparse3d cannot achieve end-to-end tracking. See the paper for the inference speed of the GPU and the performance of the single-frame model.