Training own LiDAR model gives significant increase in IOU compared to the paper
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seamie6 commented
After training my own LiDAR model, I get an IOU score of 63.8. This is quite a bit higher than the IOU presented in the paper, 60.8. Perhaps it is a typo in the paper??
I used the same parameters as the camera+radar model:
--exp_name="rgb_mine" \
--dset='trainval' \
--data_dir=XYZ \
--device_ids=[0,1,2,3] \
--ncams=6 \
--batch_size=8 \
--grad_acc=5 \
--res_scale=2 \
--do_rgbcompress=True \
--max_iters=25000 \
--log_freq=100 \
--val_freq=100 \
--save_freq=5000 \
--nworkers=12 \
--nsweeps=5 \
--use_radar=False \
--use_metaradar=False \
--use_radar_filters=False \
--use_lidar=True \
I am currently training the camera+radar model to see what happens there, again using the same parameters.
seamie6 commented
C+R gives a result similar to the paper, 55.5