Comments (3)
I briefly tried this two years ago but didn't manage to get good results back then. I guess it needs a bit more bells and whistles.
On the other hand, I do noticed a few papers on the similar direction e.g. https://github.com/hailanyi/VirConv (also check the papers that cite MVP).
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The reason why I don't think it can achieve good results in waymo is that waymo uses 64 line lidar, which already has sufficient front attractions. Continuing to add virtual points may not be enough for 32 line nuscenes. Similarly in kitti datasets, if you have any understanding, please correct it!
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yeah, I think this is the main reason. Though I think there are a few more consideration , for instance https://github.com/LittlePey/SFD and https://github.com/hailanyi/VirConv also use virtual points and work on kitti. from my understanding, the main difference is the place we do the fusion (sfd does it during roi refinement stage) and the modules we use to fuse virtual and real points (sfd / virconv gets more complex and better one)
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Related Issues (20)
- Generating results on nuscenes test set HOT 2
- MaskFormer pretrained on coco-panoptic HOT 1
- MVP reproduction on NuScenes with OpenPCDet (mAP:64.22 NDS:68.96) HOT 6
- Where is the difference between creating data with or without virtual point? HOT 1
- Missing sweeps virtual points HOT 2
- Doubts about virtual_lidar_points HOT 1
- semantic information different between PointPainting and MVP HOT 3
- Sorry
- How to implement CenterPoint + Ours(w/o virtual) HOT 3
- Generage `data/nuScenes/infos_train_10sweeps_withvelo_filter_painted_True.pkl` file HOT 3
- what is the shape of the virtual points dimension? HOT 6
- generate the points HOT 1
- Is there an online implementation of MVP? HOT 1
- Visualization HOT 2
- generate the virtual points HOT 1
- questions
- some issues about process of generate virtual points HOT 1
- Some details about generating virtual points
- good job!! l really like it
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