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OpenDriveLab / UniAD

[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving
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How to calculate the hardcoded parameters #149

Closed Jian-danai closed 10 months ago

Jian-danai commented 11 months ago

occflow_grid_conf = { 'xbound': [-50.0, 50.0, 0.5], 'ybound': [-50.0, 50.0, 0.5], 'zbound': [-10.0, 10.0, 20.0], } what does -50, 50,5, -10, 10, 20 means?

YTEP-ZHI commented 10 months ago

Hi @Jian-danai, this is the BEV range (for the x, y, and z axes). Objects beyond this range are not considered in training and testing.

Take xbound as an example, [-50, 50, 0.5] stands for the left limit, right limit, and the resolution for each bev grid (0.5 = 50 m / 100 grid).

We set occflow_grid_conf different from bevformer_bev_conf to align the setting with other occupancy research (e.g., fiery and BEVerse) for fair comparison.