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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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Question abtout update strategy of self.Q matrix in kalman filter #43

Open hungsing92 opened 11 months ago

hungsing92 commented 11 months ago

Thanks for your excellent work!

Why you update the self.Q matrix by multiply 1.5? I think this will make the self.P and self.Q matrix numerical overflow, when frame_id is too big.

d0fc6a24-640d-48be-8a34-8ae21fe2ee05

gengshi commented 10 months ago

I encountered the overflow question too.

gengshi commented 10 months ago

change the coefficient to 1.1, the issue dispeared.