Hi @yinchimaoliang @ZRandomize ! Thank you for releasing this wonderful work. I have some questions for the BEV features and voxel pooling:
What's the coordinate mapping between the ego frame and the cells BEV features with shape (B, 80, I=128, J=128)? Is it increasing index i means +y and increasing index j means +x? Also, is the ego coordinate system using +x pointing forward and +y pointing to the ego vehicle's left side?
Does the voxel pooling support 3D features with the Z dimension?
Hi @yinchimaoliang @ZRandomize ! Thank you for releasing this wonderful work. I have some questions for the BEV features and voxel pooling:
(B, 80, I=128, J=128)? Is it increasing indeximeans+yand increasing indexjmeans+x? Also, is the ego coordinate system using+xpointing forward and+ypointing to the ego vehicle's left side?Thank you very much in advance!