sranc3/m-bev

[AAAI24]This is the implementation for the paper M-BEV: Masked BEV Perception for Robust Autonomous Driving

m-bev's Issues

Code Release

Any timeline for open-sourcing your implementations?

Performance of the release model

Thanks for your great work. Could you provide the results of the released mbev.pth checkpoints? I tested it and found it's lower than that reported in the paper. Below is my results:

mAP: 0.3525
mATE: 0.7259
mASE: 0.7081
mAOE: 1.5453
mAVE: 0.4288
mAAE: 0.1856
NDS: 0.3714
Eval time: 111.4s

Per-class results:
Object Class    AP      ATE     ASE     AOE     AVE     AAE
car     0.530   0.546   0.748   1.581   0.398   0.181
truck   0.315   0.754   0.794   1.600   0.389   0.207
bus     0.370   0.742   0.856   1.549   0.771   0.257
trailer 0.194   1.077   0.841   1.574   0.294   0.137
construction_vehicle    0.102   0.960   0.694   1.527   0.145   0.343
pedestrian      0.407   0.694   0.335   1.530   0.488   0.197
motorcycle      0.320   0.699   0.794   1.534   0.647   0.154
bicycle 0.318   0.593   0.806   1.722   0.298   0.008
traffic_cone    0.504   0.556   0.327   nan     nan     nan
barrier 0.466   0.638   0.887   1.289   nan     nan

code release

Thanks for such a great job! When will the complete code be given?

Training command.

Hi, thanks for the great work!

I wonder how do you train the model. Can you provide the training command?

Thanks in advance!

Training schedule

Thank you for sharing such a great work!
I have some questions for the training details.

1. In the paper, 48 epochs are consumed to train MVR, however, in the github, 24 epoch are consumed for finetuning. which one is right?
2. how many epochs do you consume for pretraining?