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adept-thu / RoboFusion

IJCAI2024 (RoboFusion: Towards Robust Multi-Modal 3D Object Detection via SAM)
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Where is the adaptive fusion in the transfusion? #2

Closed Da1symeeting1 closed 1 month ago

Da1symeeting1 commented 1 month ago

Thanks for the amazing work you have done! I am new guy here , and i want to knnow after getting img-depth features and lidar features where is the fusion operation? looking forward to your reply.(sry for the stupid question)

modaxiansheng commented 1 month ago

Yes, TransFusion uses its own fusion solution.

modaxiansheng commented 1 month ago

Please refer to Section 4.2 Experimental Settings in the paper for detailed information on 【RoboFusion with nuScenes and nuScenes-C】.

modaxiansheng commented 1 month ago

It is noteworthy that the Adaptive Fusion module is applied exclusively to Focals Conv rather than TransFusion, while TransFusion uses its own fusion module.

Da1symeeting1 commented 1 month ago

thanks for the great work !

Da1symeeting1 commented 1 month ago

Can you link the Adaptive Fusion module, that would be nice . THX again

modaxiansheng commented 1 month ago

https://github.com/adept-thu/RoboFusion/blob/ac0aa4a1817f1e81eabc9a3a8504e0de7f53beb9/focalconvsamfusion/OpenPCDet/pcdet/models/backbones_3d/focal_sparse_conv/focal_sparse_conv3_db.py#L112C48-L112C62

Da1symeeting1 commented 1 month ago

very grateful for your hlep ! Thx again!