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Nightmare-n / UniPAD

UniPAD: A Universal Pre-training Paradigm for Autonomous Driving (CVPR 2024)
https://arxiv.org/abs/2310.08370
Apache License 2.0
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Is image data a must? #14

Closed zhaowenZhou closed 6 months ago

zhaowenZhou commented 6 months ago

Can I use this project to train a 3D backbone purely on lidar? Because I dont have corresponding image data

Nightmare-n commented 6 months ago

No, the camera is not necessary. But some modifications are needed: 1. casting rays from the center of the lidar instead of that of the multi-view cameras. 2. using only the depth loss.