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mit-han-lab / bevfusion

[ICRA'23] BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation
https://bevfusion.mit.edu
Apache License 2.0
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pretrained checkpoints #71

Closed HaoZhang534 closed 2 years ago

HaoZhang534 commented 2 years ago

Hi @SuperHenry2333,

Thanks for your interest. Pretrained weights are used but no external data (such as DDAD15M) is used.

Best, Haotian

Originally posted by @kentang-mit in https://github.com/mit-han-lab/bevfusion/issues/68#issuecomment-1180686009

HaoZhang534 commented 2 years ago

Thank you very much for your quick reply. Could you give a hint on which pre-trained checkpoint is loaded?

kentang-mit commented 2 years ago

We follow the common practice (PointPainting, MVP, TransFusion) to retrain the image backbone on nuImages. Note that nuImages is not considered as external dataset by nuScenes.

HaoZhang534 commented 2 years ago

Thank you very much!