Ablation study of the bev feature at timestamp t-k
jinhuan-hit opened this issue · comments
Hi, I am wondering do you compare the results of the reconstructed bev feature with the real bev feature at timestamp t-k?
Got it! With HoP, the performance of NDS increases to 0.531 from 0.5159.
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.