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PJLab-ADG / DetZero

[ICCV 2023] DetZero: Rethinking Offboard 3D Object Detection with Long-term Sequential Point Clouds
https://superkoma.github.io/detzero-page/
Apache License 2.0
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Reverse time order Tracking #27

Open wenyiwangbst opened 8 months ago

wenyiwangbst commented 8 months ago

Hi, Thanks for sharing the code. When I look into the tracking module, I notice that the default score threshold for first stage tracking is 0.1 while the detection output score threshold is 0.03. So for second stage only objects between 0.03 and 0.1 are considered. However in Reverse time order tracking it only run stage two which will only consider objects between 0.03 and 0.1. Is it what the detzero tracking designed for or it's a bug which originally should use two stage tracking as well or only use stage one tracking?

PrinceVictor commented 8 months ago

Thanks for your interest in our work. The Reverse Order Tracking is designed to utilize only stage two for data association and tracking. This is to avoid redundant bounding boxes and maintain tracking accuracy. In forward order tracking, any detection outputs with score greater than 0.1 have either already been created new track or updated during tracking.