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dvlab-research / VoxelNeXt

VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking (CVPR 2023)
https://arxiv.org/abs/2303.11301
Apache License 2.0
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关于体素query的相关性 #23

Closed 1145284121 closed 1 year ago

1145284121 commented 1 year ago

想请教一下，论文中table11的消融实验，voxel association具体是怎么做的，如何计算两个voxel query之间的相关性

yukang2017 commented 1 year ago

你好，就是和center association基本一样，根据预测的velocity从上一帧的query voxel去推下一帧的位置，之后根据距离来判断。