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junjie18 / CMT

[ICCV 2023] Cross Modal Transformer: Towards Fast and Robust 3D Object Detection
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Can CMT work with StreamPETR ? #80

Open FDInSky opened 9 months ago

exiawsh commented 9 months ago

Yes. We tried CMT with StreamPETR before. It can obtain about 2% mAP and 1% NDS improvement. You should pay attention to the gt-paste augmentation, which should be closed for the last 5 epoches.

xu19971109 commented 8 months ago

@exiawsh Hi~ Which config do you use? Streaming Video or Sliding Window? Adding CBGS to Streaming Video seems to mess up the temporal sequence.

exiawsh commented 8 months ago

Streaming Video and no CBGS. The model is trained for 60 epoches. @xu19971109

xu19971109 commented 8 months ago

@exiawsh Which pretrained model do you use?

exiawsh commented 8 months ago

@xu19971109 v2-99 https://github.com/junjie18/CMT/blob/master/projects/configs/fusion/cmt_voxel0075_vov_1600x640_cbgs.py

CleanSeaSalt commented 4 months ago

Yes. We tried CMT with StreamPETR before. It can obtain about 2% mAP and 1% NDS improvement. You should pay attention to the gt-paste augmentation, which should be closed for the last 5 epoches.

Is there any significant change in the model’s inference speed?