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PJLab-ADG / 3DTrans

An open-source codebase for exploring autonomous driving pre-training
https://bobrown.github.io/Team_3DTrans.github.io/
Apache License 2.0
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Question for lidar intensity input #37

Closed miaozhang97bosch closed 2 months ago

miaozhang97bosch commented 2 months ago

Thanks for sharing your work! I'm curious about the effect of lidar intensity input. In most of your settings, only [x,y,z] is taken as input to the model. But for AD-PT, the intensity is also considered. I wonder if there is any reason behind that. And since intensity value depends also on the sensor type, have you tried some experiment on it and investigate the effect? Looking forward to your reply and thanks in advance.

BOBrown commented 2 months ago

@miaozhang97bosch Your concern is valuable. We use [x, y, z] as the cross-domain setting (such as Uni3D and Bi3D) for alignment with previous research work, such as ST3D. However, we also believe that intensity is important for distinguishing different objects obtained using LiDAR. Therefore, it may be beneficial to conduct cross-domain research that includes the intensity for the cross-domain 3D object detection.

Additionally, since AD-PT is the first work to study how pre-trained model parameters can be fine-tuned to different datasets, we adopted the experimental setting of [x, y, z, intensity] (or [x, y, z, intensity, elongation] for Waymo), utilizing all the information obtained from the employed LiDAR.

miaozhang97bosch commented 2 months ago

Got it. Thanks for your reply.