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Sense-GVT / Fast-BEV

Fast-BEV: A Fast and Strong Bird’s-Eye View Perception Baseline
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Question concerning temporal fusion #72

Open LaCandela opened 8 months ago

LaCandela commented 8 months ago

I understand that Fast-BEV uses 4 consecutive frames to improve performance. Do you correct the BEV features of the past frames before temporal fusion (concatenation)? I would naively think that some correction might be necessary to compensate for the ego-car motion between frames. Could you please guide me where this correction happens in the code? Is it applied for every model or just for the larger ones?

goodpeter-sun commented 6 months ago

I don't think so since the data preparation doesn't involve can_bus info. Correct me if I am wrong, I am looking for the same point as well.

loserhou commented 4 months ago

我不要这么认为，因为数据准备不涉及can_bus信息。如果我错了，请纠正我，我也在寻找同样的观点。

Do you understand now？I don't think it's aligned, it's just concat

goodpeter-sun commented 4 months ago

I understand now.

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On Mon, Mar 11, 2024 at 2:32 PM loserhou @.***> wrote:

我不要这么认为，因为数据准备不涉及can_bus信息。如果我错了，请纠正我，我也在寻找同样的观点。

Do you understand now？I don't think it's aligned, it's just concat

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