AeDet

AeDet copied to clipboard

@fcjian Hi, thanks for your great work.

I would like to know when using CDN, how to determine these hyperparameters for virtual depth. Could you please explain more?

As shown in Figure 5, the final depth is sampled from the real depth, so the range of the real depth (i.e., [0, d_r]) must contain the range of the final depth (i.e., [2, 54]m). In the paper, we set d_v and f_v to 54m and 800 pixels (i.e. less than the minimum focal length of the nuScenes cameras). Namely, f_r > f_v, which can deduce d_r > d_v = 54m. Therefore, the range of the real depth can contain the range of the final depth for all the nuScenes cameras.