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Tsinghua-MARS-Lab / neural_map_prior

The official implementation of the CVPR2023 paper titled “Neural Map Prior for Autonomous Driving”.
https://tsinghua-mars-lab.github.io/neural_map_prior/
Apache License 2.0
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NuScenes Boston Split #16

Closed MaekTec closed 6 months ago

MaekTec commented 6 months ago

Hi, thanks for the great work! Do you provide the Boston split that you used in Table.8? Can it be enabled by setting nusc_new_split to True in nuscenes_dataset.py and generated with nusc_split.py?

abbyxxn commented 6 months ago

Thank you for your interest in our project. The "new split" is a split newly proposed in the article "StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Construction." The new split is a good choice if you want to test the model's performance on datasets without geographical overlap. Yes, it can be enabled by setting nusc_new_split to True within nuscenes_dataset.py and using nusc_split.py for generation. I have tested the effect of the neural map prior on this split, and there has been a notable improvement. I have uploaded the code for generating the Boston split here. The generation of the Boston split involves a series of calculations, making the use of the new split a better option.

MaekTec commented 6 months ago

Thank you for the clarification, that was helpful!