Effect of perception range on performance

[zxczrx123]

Hi, thanks for your great work! Based on your repo, we did some exploration. We found that when increasing the perception range, the performance drops significantly. Did you have the same discovery? How to explain this phenomenon and mitigate its effects?

[LegendBC]

Thanks for your interest! We did not explore other settings of perception range. For your questions, you can use more timestamps following BEVFormer, and you can use more modalities following BEVFusion. You can try the techniques of other excellent works to further enhance the feature.

[mingyangShang]

Can you explain how the performance drops in more detail? Better if you can show us visualization of some badcases .

[zxczrx123]

@mingyangShang I have discussed in here.https://github.com/hustvl/MapTR/issues/32