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tusen-ai / SST

Code for a series of work in LiDAR perception, including SST (CVPR 22), FSD (NeurIPS 22), FSD++ (TPAMI 23), FSDv2, and CTRL (ICCV 23, oral).
Apache License 2.0
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Does FSD need NMS? #66

Closed zwqnju closed 1 year ago

zwqnju commented 2 years ago

It seems FSD does not need NMS. But your FSD paper dose not mention this.

Abyssaledge commented 2 years ago

We still use NMS in FSD. But FSD does not heavily rely on NMS. If I recall correctly, removing NMS lead to 2 AP performance drop in Vehicle class.
This is an interesting issue, I hope we keep it open for a couple of days for community reference.