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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How to fix point offset direction reverse in segmentation_head? #69

Closed wutheringcoo closed 2 years ago

wutheringcoo commented 2 years ago

I use points in bbox to predict offset form center of bbox, loss function is smothl1, most method is from segmentation_head, but i found offset direction is often reverse, How to fix this problem? vis is below: 1111

Abyssaledge commented 2 years ago

Have you checked the correctness of the generated offset targets?

wutheringcoo commented 2 years ago

I have check offset targets visualization, gt vis is below ps: predicted offset in my model is trained in my dataset, i use your idea in my instance_head, picture above is trained 28epoch, train dataset: 25000frames 222

Abyssaledge commented 2 years ago

Do you change the model structure before segmentation_head? If you do, which part do you modify?

wutheringcoo commented 2 years ago

backbone use my own model structure, instance_head predicts offset from your segmentation_head