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论文Fast-BEV
Fast-BEV: A Fast and Strong Bird’s-Eye View Perception Baseline
Better Inference Implementation
Thanks to the repository CUDA-FastBEV inference using CUDA & TensorRT. And provide PTQ and QAT int8 quantization code. You can refer to it to get faster speed.
Usage
Installation
- CUDA>=9.2
- GCC>=5.4
- Python>=3.6
- Pytorch>=1.8.1
- Torchvision>=0.9.1
- MMCV-full==1.4.0
- MMDetection==2.14.0
- MMSegmentation==0.14.1
Dataset preparation
.
├── data
│ └── nuscenes
│ ├── maps
│ ├── maps_bev_seg_gt_2class
│ ├── nuscenes_infos_test_4d_interval3_max60.pkl
│ ├── nuscenes_infos_train_4d_interval3_max60.pkl
│ ├── nuscenes_infos_val_4d_interval3_max60.pkl
│ ├── v1.0-test
│ └── v1.0-trainval
Pretraining
.
├── pretrained_models
│ ├── cascade_mask_rcnn_r18_fpn_coco-mstrain_3x_20e_nuim_bbox_mAP_0.5110_segm_mAP_0.4070.pth
│ ├── cascade_mask_rcnn_r34_fpn_coco-mstrain_3x_20e_nuim_bbox_mAP_0.5190_segm_mAP_0.4140.pth
│ └── cascade_mask_rcnn_r50_fpn_coco-mstrain_3x_20e_nuim_bbox_mAP_0.5400_segm_mAP_0.4300.pth
Training
.
├── work_dirs
└── fastbev
└── exp
└── paper
└── fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f4
│ ├── epoch_20.pth
│ ├── latest.pth -> epoch_20.pth
│ ├── log.eval.fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f4.02062323.txt
│ └── log.test.fastbev_m0_r18_s256x704_v200x200x4_c192_d2_f4.02062309.txt
├── fastbev_m1_r18_s320x880_v200x200x4_c192_d2_f4
│ ├── epoch_20.pth
│ ├── latest.pth -> epoch_20.pth
│ ├── log.eval.fastbev_m1_r18_s320x880_v200x200x4_c192_d2_f4.02080000.txt
│ └── log.test.fastbev_m1_r18_s320x880_v200x200x4_c192_d2_f4.02072346.txt
├── fastbev_m2_r34_s256x704_v200x200x4_c224_d4_f4
│ ├── epoch_20.pth
│ ├── latest.pth -> epoch_20.pth
│ ├── log.eval.fastbev_m2_r34_s256x704_v200x200x4_c224_d4_f4.02080021.txt
│ └── log.test.fastbev_m2_r34_s256x704_v200x200x4_c224_d4_f4.02080005.txt
├── fastbev_m4_r50_s320x880_v250x250x6_c256_d6_f4
│ ├── epoch_20.pth
│ ├── latest.pth -> epoch_20.pth
│ ├── log.eval.fastbev_m4_r50_s320x880_v250x250x6_c256_d6_f4.02080021.txt
│ └── log.test.fastbev_m4_r50_s320x880_v250x250x6_c256_d6_f4.02080005.txt
└── fastbev_m5_r50_s512x1408_v250x250x6_c256_d6_f4
├── epoch_20.pth
├── latest.pth -> epoch_20.pth
├── log.eval.fastbev_m5_r50_s512x1408_v250x250x6_c256_d6_f4.02080021.txt
└── log.test.fastbev_m5_r50_s512x1408_v250x250x6_c256_d6_f4.02080001.txt
Deployment
TODO
View Transformation Latency on device
Citation
@article{li2023fast,
title={Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baseline},
author={Li, Yangguang and Huang, Bin and Chen, Zeren and Cui, Yufeng and Liang, Feng and Shen, Mingzhu and Liu, Fenggang and Xie, Enze and Sheng, Lu and Ouyang, Wanli and others},
journal={arXiv preprint arXiv:2301.12511},
year={2023}
}
