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open-mmlab / mmdetection3d

OpenMMLab's next-generation platform for general 3D object detection.
https://mmdetection3d.readthedocs.io/en/latest/
Apache License 2.0
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FPN in ImVoxelNet #700

Closed afonso-sousa closed 3 years ago

afonso-sousa commented 3 years ago

Hi. As far as I understand from this line: https://github.com/open-mmlab/mmdetection3d/blob/7fec1d533bacf5b5c89d456f65c775c3cc458c72/mmdet3d/models/detectors/imvoxelnet.py#L47 ImVoxelNet only uses one feature map from the FPN's multi-scale feature maps. Am I miss-interpreting something? Can you enlighten me?

filaPro commented 3 years ago

Hi @AfonsoSalgadoSousa , As an author of ImVoxelNet can confirm that you are right. This design choice follow the original implementation. However this is probably not the best aggregation method and for sure can be improved.