Ablation study of the bev feature at timestamp t-k

Question

jinhuan-hit opened this issue a year ago · comments

Hi, I am wondering do you compare the results of the reconstructed bev feature with the real bev feature at timestamp t-k?

Dongzhi Jiang · Answer 1 · Wed Aug 02 2023 15:22:43 GMT+0800 (China Standard Time)

We conducted the experiment on the model below:

and we found that the performance of HoP branch is:
.

jinhuan-hit · Answer 2 · Thu Aug 03 2023 09:44:59 GMT+0800 (China Standard Time)

Got it! With HoP, the performance of NDS increases to 0.531 from 0.5159.

Dongzhi Jiang · Answer 3 · Thu Aug 03 2023 17:00:38 GMT+0800 (China Standard Time)

Hi, @jinhuan-hit . I am afraid that my last answer may mislead you. Let me clarify it.

The performance of HoP branch, which is shown in the second picture, means that it is the detection performance based on reconstructed BEV feature.

The performance increase due to HoP is from 0.513 to 0.531.