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TonyXuQAQ / CenterLineDet

Offical repo of paper CenterLineDet: Road Lane CenterLine Graph Detection With Vehicle-Mounted Sensors by Transformer for High-definition Map Creation
GNU General Public License v3.0
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Whether the frame merging code is available? #7

Closed zhanghui75 closed 1 year ago

zhanghui75 commented 1 year ago

In segmentation_baselines directories, the baseline models (HDMapNet, FusionNet) are shared. However, it seems that the results are only for single-frame, and the multi-frame results are not available?

Specifically, I mean the frame merging code mentioned as below: "To adapt it to our multi-frame detection task, we apply the frame merging method proposed in [25] to construct the world-level graph of lane centerlines."

TonyXuQAQ commented 1 year ago

Yes. Sorry that the scripts to obtain the merged segmentation results are put in ./CenterLineDet instead of ./segmentation_baselines.

We merge adjacent frames of the segmentation results for CenterLineDet. The merge operation is only applied during inference. Please check this function. You could generate the merged segmentation results by running ./CenterLineDet/bash/Fusion_fuse_segmentation.bash or ./CenterLineDet/bash/HD_fuse_segmentation.bash.