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woodfrog / maptracker

Code for paper "MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping", ECCV 2024
https://map-tracker.github.io/
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track_queries_fal_pos_mask and false positive queries #14

Closed yj772881654 closed 1 week ago

yj772881654 commented 2 weeks ago

I have another question about the function prepare_track_queries_and_targets. What is the role of track_queries_fal_pos_mask and false positive queries, and how do these differ from the normal track queries?

woodfrog commented 2 weeks ago

During training, the false positive track queries are some noisy instances that not propagated from the matched positive predictions of the last frame. They are randomly sampled from the negative predictions from the last frame. The goal is to mimic the wrong predictions of the last frame, which naturally happens at test time. However, we actually turn this off (see the config) following MOTRv2's practices (See Sec4.2 of their paper).

yj772881654 commented 1 week ago

Thank you for your response; it resolved my doubts. I have another question. Where are the Deformable Self Attention and Perspective-to-BEV Cross Attention in the BEV Module implemented? I don't seem to see the relevant content in MapTracker.py.

woodfrog commented 1 week ago

Thank you for your response; it resolved my doubts. I have another question. Where are the Deformable Self Attention and Perspective-to-BEV Cross Attention in the BEV Module implemented? I don't seem to see the relevant content in MapTracker.py.

Those are in the bevformer folder