Comments (4)
@yst1 你好,感谢使用我们的代码。从提供的实验结果来看,预训练的模型在不同激光雷达上的泛化能力不行。可行的解决方案是对预训练进行微调再训练(fine tune)。可以你的数据集中标注少量动静态物体标签,然后再训练一下,结果应该能够得到提升。
Q: This provided screenshot is the result of using the pre-trained model with the own collected 16-beam LiDAR data. As can be seen, the MOS results are not good. How to get better results on 16-beam LiDAR data.
A: The experiments show that the generalization of the pre-trained model is not very good for different types of LiDAR scanners. To make it work with 16-beam LiDAR data, one could label several binary labels on own collected data, and fine-tune the pre-trained model.
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你好,我用你训练好的模型跑自己的16线雷达的数据,根据label输出对当前帧点云每个点区分静动态,最后输出静动态点云。但是效果是这样的,彩色的是动态点,请问可能是什么原因呢?
你好,请问你是怎么把这个模型部署在ros上,然后输出ros格式的topic,然后在rviz上显示出来的呢?可以交流下吗?谢谢了
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@yuhang9803 ,修改输入输出接口,作者的输出好像是bin文件
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通过将32线数据,转换为需要的输入格式,基于预训练模型测试下来,发现几乎所有点都被认为是动态物体,有可能是模型泛化不好产生么,个人总感觉是数据输入错误。
By converting the vlp-32 data into the required input format and testing it based on the pre-training model, it is found that almost all points are considered dynamic objects. Is it possible that the model generalization is not good? Personally, I always feel that it is a data input error. Have you encountered similar problems?
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Related Issues (20)
- How to export the dmo video? HOT 2
- How to train this code on multi-GPUs? HOT 4
- How to re-train when training is unexpectedly interrupted? HOT 8
- How to use the pretrained model to test my own Lidar Scans? HOT 5
- About set my own Lidar pose to kitti format pose HOT 3
- how to visualize? HOT 4
- How did you define the moving and static object HOT 4
- About using my own lidar data and lidar pose HOT 2
- Salsanext HOT 20
- 关于使用rangenet的问题 (Problem when using rangenet) HOT 4
- deployment
- Headless way to visualize the result? HOT 1
- About training time HOT 3
- moving and static object
- 在保存训练模型时遇到问题 (Problem while saving training model)
- Try with different sensor
- salsanext issue
- 请问如何对预训练模型进行微调?
- core dumped when infering with SalsaNext
- About the issue of multi-GPU training.
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