YZLFusion

Method

plain centerpoint-voxel(without better backbone like focalsparse conv,without better neck like SA-FPN,without better head like transfusionhead) + swin-tiny + fusion strategy.

News

• (2022.9.4) rank 1st and 1st in the term of NDS and mAP on the nuScenes leaderboard among all methods that don't use TTA and Ensemble.
• (2022.9.21) rank 1st and 2nd in the term of NDS and mAP on the nuScenes learderboard among all methods that use single model and TTA.
• (2022.10.6) rank 1st and 3rd in the term of NDS and mAP on the nuScenes learderboard among all methods that use Ensemble. learderboard link

Nuscene Single Model Performance

Valset

Image	Lidar	mAP	NDS
ResNet50	Pillar-02pillar	0.6701	0.6988
ResNet50	VoxelNet-0075voxel	0.7037	0.7259
Swin-Tiny	VoxelNet-0075voxel

Testset

Image	Lidar	mAP	NDS
Swin-Tiny	VoxelNet-0075voxel	0.722	0.738

Nuscene Ensemble Model Performance

Image	Lidar	Strategy	mAP	NDS
Swin-Tiny	VoxelNet-0075	double lidar backbone channel, single-model+flip+rot	0.7363	0.7557