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OpenDriveLab / UniAD

[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving
Apache License 2.0
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Question about difference bev_size - 50 or 100 #33

Closed jtengyp closed 10 months ago

jtengyp commented 1 year ago

The configs only provide bev size of 200x200. I'm trying difference bev size, like 100x100, or 50x50.

I noticed that in NuScenesE2EDataset, the canvas_size only supports 50 and 200.

While in UniADTrack->upsample_bev_if_tiny, the bev_size only supports 100x100.

Now I'm confused about bev size of 50 and 100. Or the bev size of 50 does not need to upsample in UniADTrack->upsample_bev_if_tiny?

YTEP-ZHI commented 1 year ago

Hi, @jtengyp. In our implementation, for uniad-small with 100x100 bev size, we actually train the perception heads(track_map) on top of the 100x100 bev plane, then the bev feature is upsampled to 200x200 for prediction and planning heads. That's why the upsample_bev_if_tiny function is needed. We will release the configs for uniad-small soon, which is an example of how to adapt to smaller bev.

jtengyp commented 11 months ago

@YTEP-ZHI Will the configs for uniad-small be released?

YTEP-ZHI commented 10 months ago

Hi @jtengyp, as we have other projects going on, we may not be available to release other UniAD variants in the near future.