weiyithu
Performance
Hello, I have a question. I sampled waymo 1/20 for training, and directly tested nuscenes. The performance (26.44/12.11) is similar to that given in Table 1 of the paper. However, the distillation performance is 27.37/13.46, which is quite different from that given in the paper (40.23/19.12). The performance of "our" in Table 1 is "distillation +sn" or only "distillation".
It is "distillation". Have you follow https://github.com/weiyithu/LiDAR-Distillation/blob/main/docs/GETTING_STARTED.md to train the model?
It is "distillation". Have you follow https://github.com/weiyithu/LiDAR-Distillation/blob/main/docs/GETTING_STARTED.md to train the model?
First, I trained the PooointPillars for waymo 64-beam, and found the best model. Then, the best model is distilled to waymo 32-beam, and used the distilled model to test nuscenes. The above steps seem be consistent with those in readme. The only difference is that my waymo is 1/20 sampled, but the performance of training sampled waymo and directly testing nuscenes is similar to that given in the table 1.
As metioned in our paper, the beams of nuscenes is equal to 16^ beam but not 32 beam. However, I think this is not the reason because 32-beam model should be better than 64-beam model (Table 8). I think there must be a bug. If you are Chinese, here is my wechat 18600500891 and we can discuss in wechat.