Megvii-BaseDetection / Megvii-BaseDetection/BEVDepth
Questions for BEV features and voxel pooling
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- Python
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Description
Hi @yinchimaoliang @ZRandomize ! Thank you for releasing this wonderful work. I have some questions for the BEV features and voxel pooling:
- What's the coordinate mapping between the ego frame and the cells BEV features with shape
(B, 80, I=128, J=128)? Is it increasing indeximeans+yand increasing indexjmeans+x? Also, is the ego coordinate system using+xpointing forward and+ypointing to the ego vehicle's left side? - Does the voxel pooling support 3D features with the Z dimension?
Thank you very much in advance!
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Research direction
No file, test, or entry point is named. Start by locating the BEV feature grid and voxel-pooling implementation, then document the ego-frame-to-grid coordinate mapping and whether pooling supports a Z dimension; the issue is done when both questions have authoritative answers.
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Assessment
- Tech stack
- python
- Domain
- computer-vision, machine-learning
- Issue type
- Documentation
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 20/100