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question about BEVFormer 3D detection labels #275

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YangyangFu opened this issue Aug 7, 2024 · 0 comments

YangyangFu commented Aug 7, 2024 •

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Hi, thanks for the great work. I recently started to learn this paper. I have a question about the training details:

are the objects that are of out of the BEV grid (e.g., 50m x 50m) removed when calculating bounding boxes loss?
- if so, can anyone help direct me to the relevant code? I didn't find any in the dataset pipeline and the head loss calculation.
- if not, how does BEVFormer handle this scenario?

Thanks in advance.

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