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LittlePey / SFD

Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion (CVPR 2022, Oral)
Apache License 2.0
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Synchronized Augmentation question #7

Closed AndyYuan96 closed 2 years ago

AndyYuan96 commented 2 years ago

Hi，thanks for sharing the code，I have some question about the aug, considering that you use pseudo lidar point cloud and raw lidar point cloud to fuse, so it's naturally that you can use all only lidar 3d detection method's augmentation method, why use long paragraph to say that thing。what's more, do you have experiment about comparing only use pseudo lidar point cloud to detection with sfd.

LittlePey commented 2 years ago

Hi, we use several paragraphs to help readers understand its mechanism and introduce our CPConv. The performance of SFD will drop dramatically with only pseudo point clouds. The role of pseudo clouds should be assisting raw clouds, not replacing raw clouds.