Conditioning on Segmentation Maps

[samuruph]

Hello, great work!

I was wondering whether you thougth about conditioning on the image segmentation maps (generated with some algorithm on NuScenes images). Because I am not quite sure, I would expect segmentation maps have more information about the shapes of the scene/objects compared to 3d bboxes + class, but maybe it is not the case if you already considering and discraded it.

Thank you!!