YZLFusion
Method
plain centerpoint-voxel(without better backbone like focalsparse conv,without better neck like SA-FPN,without better head like transfusionhead) + swin-tiny + fusion strategy.
News
- (2022.9.4) rank 1st and 1st in the term of NDS and mAP on the nuScenes leaderboard among all methods that don't use TTA and Ensemble.
- (2022.9.21) rank 1st and 2nd in the term of NDS and mAP on the nuScenes learderboard among all methods that use single model and TTA.
- (2022.10.6) rank 1st and 3rd in the term of NDS and mAP on the nuScenes learderboard among all methods that use Ensemble. learderboard link
Nuscene Single Model Performance
Valset
| Image |
Lidar |
mAP |
NDS |
| ResNet50 |
Pillar-02pillar |
0.6701 |
0.6988 |
| ResNet50 |
VoxelNet-0075voxel |
0.7037 |
0.7259 |
| Swin-Tiny |
VoxelNet-0075voxel |
|
|
Testset
| Image |
Lidar |
mAP |
NDS |
| Swin-Tiny |
VoxelNet-0075voxel |
0.722 |
0.738 |
Nuscene Ensemble Model Performance
| Image |
Lidar |
Strategy |
mAP |
NDS |
| Swin-Tiny |
VoxelNet-0075 |
double lidar backbone channel, single-model+flip+rot |
0.7363 |
0.7557 |
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AndyYuan96
AndyYuan96