Comments (1)
Hi,
In the early stage of our development, we have conducted experiment with D=1(depth = 1.0m). In this case, 3D PE encodes the direction vector of a line. The result will be lower than sampling 64 points from a line, about 1%~2%. In my opinion,sample points have some advantages:
(1)Sampling points are some actual spatial coordinates, and query is also generated by reference points, which can speed up convergence. If we only sample 1 point, it is difficult to determine the depth value of this point (depth = 1 or depth estimation).
(2)Since the points are some actual spatial coordinates,we can transform the points of previous frame to current frame. So we can extend the 3D PE to its temperal version. If we use the direction vector (1 point ), it's difficult to do the alignment between different frames.
from petr.
Related Issues (20)
- How to visualize the BEV segmentation results?
- Confusion about sensor to LiDAR transformation HOT 1
- 关于 TypeError: can't pickle dict_keys objects 问题 HOT 11
- why does the 3D Position Encoder conv 3x3 not work?
- What is the difference between multiheadattention and PETRMultiheadAttention? HOT 1
- Can not reproduce petr v1 result HOT 3
- The info files of PETRv2
- Can you explan some details about these transformation matrix?
- Reproduce PETRv1 result using refactored MMDetection3D codebase HOT 4
- ablation study about numbers of decoder layer
- Where the bbox changed?
- Frame alignment between t-1 and t HOT 1
- Hi, what's the difference between these two pretrained backbones? HOT 2
- Question about coords_mask HOT 4
- PETRv2 lane query version
- Is the order of regression wrong here? HOT 1
- Can't reproduce
- About the details of pre-trained VoVNet checkpoints HOT 5
- Questions on nan
- rotate_bev_along_z has bug? HOT 1
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from petr.