diff --git a/projects/CenterPoint/docs/CenterPoint/v2/base.md b/projects/CenterPoint/docs/CenterPoint/v2/base.md index 7e5597188..b3e5218b0 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/base.md @@ -3,9 +3,9 @@ ### Main Parameters - - **Range:** 122.40m + - **Range (x,y):** [-122.40, 122.40] m - **Voxel Size:** [0.24, 0.24, 8.0] - - **Grid Size:** [510, 510, 1] + - **Grid Size:** [1020, 1020, 1] ### Testing Datasets diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index 261a5d7fa..b1ebd35f4 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -3,11 +3,15 @@ ### Main Parameters - - **Range:** 122.40m + - **Range (x,y):** [-122.40, 122.40] m - **Voxel Size:** [0.24, 0.24, 8.0] - - **Grid Size:** [510, 510, 1] + - **Grid Size:** [1020, 1020, 1] - **With Intensity** +### Evaluation Environment + +> Please note that CenterPoint J6Gen2_Base/2.6.1_quant was evaluated on TensorRT using a mid-range NVIDIA Ada-generation GPU, while CenterPoint J6Gen2_Base/2.6.1 and CenterPoint J6Gen2_Base/2.5.1 were evaluated in PyTorch. + ### Testing Datasets - **Total Frames: 5,179** @@ -40,6 +44,7 @@ | Model version | mAP | car
(64,520) | truck
(6,947) | bus
(2,275) | bicycle
(1,379) | pedestrian
(19,421) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 84.50 | 94.70 | 81.75 | 91.68 | 80.14 | 74.24 | | CenterPoint J6Gen2_Base/2.6.1 | 84.65 | 94.73 | 81.93 | 91.96 | 80.16 | 74.45 | | CenterPoint J6Gen2_Base/2.5.1 | 84.20 | 94.24 | 80.77 | 92.59 | 80.16 | 73.25 | @@ -50,6 +55,7 @@ | Model version | mAP | car
(58,562) | truck
(5,101) | bus
(2,078) | bicycle
(758) | pedestrian
(10,283) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 65.14 | 80.59 | 60.54 | 74.62 | 52.13 | 57.80 | | CenterPoint J6Gen2_Base/2.6.1 | 65.60 | 81.03 | 61.17 | 75.08 | 52.45 | 58.27 | | CenterPoint J6Gen2_Base/2.5.1 | 63.43 | 79.61 | 57.96 | 69.85 | 52.76 | 56.99 | @@ -60,6 +66,7 @@ | Model version | mAP | car
(20,371) | truck
(3,172) | bus
(376) | bicycle
(155) | pedestrian
(2,794) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 41.21 | 57.40 | 41.00 | 34.60 | 35.44 | 37.61 | | CenterPoint J6Gen2_Base/2.6.1 | 41.52 | 58.37 | 42.35 | 35.37 | 34.32 | 37.19 | | CenterPoint J6Gen2_Base/2.5.1 | 38.55 | 55.21 | 40.77 | 27.18 | 33.56 | 36.02 | @@ -70,6 +77,7 @@ | Model version | mAP | car
(143,453) | truck
(15,220) | bus
(4,729) | bicycle
(2,292) | pedestrian
(32,498) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 73.92 | 85.00 | 67.41 | 81.10 | 68.98 | 67.10 | | CenterPoint J6Gen2_Base/2.6.1 | 74.26 | 85.33 | 68.00 | 81.44 | 69.07 | 67.45 | | CenterPoint J6Gen2_Base/2.5.1 | 72.88 | 84.14 | 66.10 | 78.57 | 69.49 | 66.08 | @@ -92,6 +100,7 @@ | Model version | mAP | car
(14,883) | truck
(1,193) | bus
(336) | bicycle
(740) | pedestrian
(5,059) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 83.79 | 95.61 | 83.80 | 88.40 | 76.65 | 74.49 | | CenterPoint J6Gen2_Base/2.6.1 | 84.00 | 95.89 | 84.14 | 88.03 | 76.93 | 75.03 | | CenterPoint J6Gen2_Base/2.5.1 | 83.98 | 95.41 | 83.68 | 90.68 | 76.40 | 73.73 | @@ -102,6 +111,7 @@ | Model version | mAP | car
(10,994) | truck
(1,011) | bus
(143) | bicycle
(463) | pedestrian
(3,754) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 69.49 | 87.35 | 65.35 | 85.70 | 48.31 | 60.76 | | CenterPoint J6Gen2_Base/2.6.1 | 70.84 | 87.88 | 67.53 | 88.29 | 49.08 | 61.44 | | CenterPoint J6Gen2_Base/2.5.1 | 70.47 | 86.57 | 65.90 | 90.25 | 49.54 | 60.10 | @@ -112,6 +122,7 @@ | Model version | mAP | car
(3,018) | truck
(602) | bus
(60) | bicycle
(85) | pedestrian
(1,121) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 48.64 | 66.87 | 56.44 | 49.70 | 26.89 | 43.28 | | CenterPoint J6Gen2_Base/2.6.1 | 49.39 | 67.61 | 58.18 | 49.30 | 27.99 | 43.86 | | CenterPoint J6Gen2_Base/2.5.1 | 48.52 | 64.05 | 60.15 | 49.12 | 25.80 | 43.50 | @@ -122,6 +133,7 @@ | Model version | mAP | car
(28,895) | truck
(2,806) | bus
(539) | bicycle
(1,288) | pedestrian
(9,934) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 75.50 | 90.51 | 72.21 | 83.67 | 64.28 | 66.83 | | CenterPoint J6Gen2_Base/2.6.1 | 76.01 | 90.83 | 73.45 | 83.80 | 64.63 | 67.36 | | CenterPoint J6Gen2_Base/2.5.1 | 75.93 | 89.72 | 72.99 | 86.03 | 64.78 | 66.13 | @@ -150,6 +162,7 @@ | Model version | mAP | car
(49,637) | truck
(5,754) | bus
(1,939) | bicycle
(639) | pedestrian
(14,362) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 85.13 | 94.24 | 81.21 | 92.05 | 84.06 | 74.09 | | CenterPoint J6Gen2_Base/2.6.1 | 85.34 | 94.26 | 81.40 | 92.57 | 84.10 | 74.38 | | CenterPoint J6Gen2_Base/2.5.1 | 84.91 | 93.92 | 80.21 | 92.98 | 84.35 | 73.10 | @@ -160,6 +173,7 @@ | Model version | mAP | car
(47,568) | truck
(4,090) | bus
(1,935) | bicycle
(295) | pedestrian
(6,529) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 65.42 | 79.01 | 59.32 | 74.04 | 58.79 | 55.92 | | CenterPoint J6Gen2_Base/2.6.1 | 65.73 | 79.41 | 59.58 | 74.45 | 58.90 | 56.30 | | CenterPoint J6Gen2_Base/2.5.1 | 63.46 | 77.99 | 55.96 | 68.73 | 59.46 | 55.15 | @@ -170,6 +184,7 @@ | Model version | mAP | car
(17,353) | truck
(2,570) | bus
(316) | bicycle
(70) | pedestrian
(1,673) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 41.24 | 55.72 | 37.29 | 31.60 | 47.66 | 33.94 | | CenterPoint J6Gen2_Base/2.6.1 | 40.75 | 56.78 | 38.43 | 32.79 | 43.00 | 32.77 | | CenterPoint J6Gen2_Base/2.5.1 | 37.86 | 53.67 | 36.03 | 22.95 | 45.28 | 31.39 | @@ -180,6 +195,7 @@ | Model version | mAP | car
(114,558) | truck
(12,414) | bus
(4,190) | bicycle
(1,004) | pedestrian
(22,564) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | 74.65 | 83.63 | 66.36 | 80.79 | 75.25 | 67.21 | | CenterPoint J6Gen2_Base/2.6.1 | 74.80 | 83.83 | 66.80 | 81.25 | 74.70 | 67.44 | | CenterPoint J6Gen2_Base/2.5.1 | 73.31 | 82.49 | 64.58 | 77.82 | 75.54 | 66.11 | @@ -189,6 +205,204 @@ ## Release +### CenterPoint J6Gen2_Base/2.6.1_quant + +
+ Changes + +- Applied PTQ quantization to `J6Gen2_Base/2.6.1` to reduce inference latency while maintaining accuracy. + - Used 1024 randomly sampled frames from `t4dataset_j6gen2_base_infos_val.pkl` for INT8 calibration. + - Adopted the MSE (Mean Squared Error) calibration algorithm to determine optimal activation quantization ranges and minimize quantization-induced accuracy degradation. +- Key performance gains: + - Average end-to-end latency improved by `25.1%` (`48.9 ms -> 36.6 ms`). + - Throughput increased from `20.5 FPS` to `27.3 FPS`. + - Backbone inference latency was reduced by up to `39.7%`. +- Accuracy impact remained negligible: + - Absolute mAP drop stayed within `0.25%`. +- Overall: + - INT8 quantization effectively accelerates compute-heavy backbone inference while preserving detection accuracy. + +
+ +
+ Artifacts + +- Deployed onnx and ROS parameter files (for internal) + - [WebAuto](https://evaluation.ci.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/383801f4-d9e6-48bb-afaf-f4da29a879ac?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1_quant/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1QsqP6lwVxKWawGPvi8lseAWdgpB2Wziw/view?usp=drive_link) +- Logs (for internal) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1_quant/logs.zip) + - [Google drive](https://drive.google.com/file/d/1IMvTwtdRETxWLC1Vijent5ZUTJK7MGEV/view?usp=drive_link) +- Pytorch Best checkpoints: + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1_quant/epoch_29_ptq.pth) + - [Google drive](https://drive.google.com/file/d/1CdU50IUCwoqy0Pz93nDCxfccqZDcbBSz/view?usp=drive_link) + +
+ +
+ Evaluation + +**Base Datasets (5,179 frames)**: + +- j6gen2 (3,951 frames): db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 + db_j6gen2_v7 + db_j6gen2_v8 + db_j6gen2_v9 +- largebus (1,228 frames): db_largebus_v1 + db_largebus_v2 + db_largebus_v3 + +**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8450** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 64,520 | 0.9470 | 0.9166 / 0.9552 / 0.9576 / 0.9585 | 0.9277 / 0.9529 / 0.9580 / 0.9589 | 0.3584 / 0.3485 / 0.3366 / 0.3316 | +| **truck** | 6,947 | 0.8175 | 0.7138 / 0.8270 / 0.8543 / 0.8747 | 0.7767 / 0.8353 / 0.8622 / 0.8776 | 0.3934 / 0.3760 / 0.3510 / 0.3463 | +| **bus** | 2,275 | 0.9168 | 0.8522 / 0.9253 / 0.9445 / 0.9450 | 0.8781 / 0.9225 / 0.9405 / 0.9412 | 0.4706 / 0.4083 / 0.4083 / 0.3754 | +| **bicycle** | 1,379 | 0.8014 | 0.7761 / 0.8021 / 0.8133 / 0.8141 | 0.8604 / 0.8695 / 0.8711 / 0.8726 | 0.4275 / 0.4275 / 0.4275 / 0.4275 | +| **pedestrian** | 19,421 | 0.7424 | 0.7184 / 0.7369 / 0.7482 / 0.7662 | 0.7832 / 0.7903 / 0.7938 / 0.7989 | 0.3811 / 0.3775 / 0.3775 / 0.3667 | + + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6514** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 58,562 | 0.8059 | 0.7255 / 0.8106 / 0.8385 / 0.8488 | 0.7891 / 0.8409 / 0.8594 / 0.8636 | 0.3447 / 0.3255 / 0.3214 / 0.3215 | +| **truck** | 5,101 | 0.6054 | 0.4657 / 0.6078 / 0.6609 / 0.6873 | 0.5929 / 0.6822 / 0.7216 / 0.7429 | 0.3910 / 0.3628 / 0.3583 / 0.3213 | +| **bus** | 2,078 | 0.7462 | 0.6046 / 0.7511 / 0.8055 / 0.8238 | 0.6894 / 0.7758 / 0.8219 / 0.8324 | 0.4939 / 0.3608 / 0.3489 / 0.3585 | +| **bicycle** | 758 | 0.5213 | 0.4523 / 0.5359 / 0.5475 / 0.5496 | 0.6326 / 0.6762 / 0.6807 / 0.6807 | 0.3721 / 0.3721 / 0.3721 / 0.3721 | +| **pedestrian** | 10,283 | 0.5780 | 0.5543 / 0.5731 / 0.5836 / 0.6009 | 0.6527 / 0.6615 / 0.6651 / 0.6726 | 0.3689 / 0.3711 / 0.3711 / 0.3709 | + + +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4121** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 20,371 | 0.5740 | 0.4744 / 0.5777 / 0.6151 / 0.6287 | 0.6088 / 0.6734 / 0.7000 / 0.7074 | 0.3220 / 0.3090 / 0.3094 / 0.3053 | +| **truck** | 3,172 | 0.4100 | 0.2209 / 0.3957 / 0.4841 / 0.5393 | 0.4074 / 0.5246 / 0.5943 / 0.6390 | 0.3530 / 0.3177 / 0.3185 / 0.3139 | +| **bus** | 376 | 0.3460 | 0.1848 / 0.3430 / 0.4226 / 0.4337 | 0.3840 / 0.4956 / 0.5539 / 0.5668 | 0.4448 / 0.2987 / 0.3407 / 0.3407 | +| **bicycle** | 155 | 0.3544 | 0.2746 / 0.3597 / 0.3917 / 0.3917 | 0.4715 / 0.5399 / 0.5612 / 0.5612 | 0.4065 / 0.4065 / 0.3746 / 0.3746 | +| **pedestrian** | 2,794 | 0.3761 | 0.3620 / 0.3715 / 0.3805 / 0.3902 | 0.5188 / 0.5235 / 0.5269 / 0.5301 | 0.3561 / 0.3561 / 0.3561 / 0.3561 | + + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7392** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------- | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 143,453 | 0.8500 | 0.7862 / 0.8572 / 0.8740 / 0.8828 | 0.8327 / 0.8732 / 0.8867 / 0.8896 | 0.3473 / 0.3296 / 0.3226 / 0.3224 | +| **truck** | 15,220 | 0.6741 | 0.5389 / 0.6774 / 0.7273 / 0.7529 | 0.6489 / 0.7268 / 0.7664 / 0.7894 | 0.3909 / 0.3579 / 0.3480 / 0.3448 | +| **bus** | 4,729 | 0.8110 | 0.7041 / 0.8204 / 0.8549 / 0.8644 | 0.7679 / 0.8314 / 0.8652 / 0.8703 | 0.4922 / 0.3745 / 0.3844 / 0.3742 | +| **bicycle** | 2,292 | 0.6898 | 0.6495 / 0.6924 / 0.7082 / 0.7092 | 0.7661 / 0.7881 / 0.7914 / 0.7924 | 0.4410 / 0.4275 / 0.4275 / 0.4275 | +| **pedestrian** | 32,498 | 0.6710 | 0.6477 / 0.6650 / 0.6773 / 0.6939 | 0.7204 / 0.7279 / 0.7312 / 0.7369 | 0.3808 / 0.3805 / 0.3811 / 0.3808 | + + +--- + +**LargeBus**: db_largebus_v1 + db_largebus_v2 + db_largebus_v3 (1,228 frames) + +**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8379** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 14,883 | 0.9561 | 0.9193 / 0.9668 / 0.9689 / 0.9697 | 0.9372 / 0.9628 / 0.9664 / 0.9673 | 0.3525 / 0.3418 / 0.3418 / 0.3276 | +| **truck** | 1,193 | 0.8380 | 0.7466 / 0.8497 / 0.8734 / 0.8822 | 0.8062 / 0.8672 / 0.8906 / 0.8906 | 0.3724 / 0.3504 / 0.3512 / 0.3512 | +| **bus** | 336 | 0.8840 | 0.7913 / 0.8948 / 0.9251 / 0.9251 | 0.8411 / 0.9108 / 0.9385 / 0.9385 | 0.4936 / 0.4721 / 0.4721 / 0.4721 | +| **bicycle** | 740 | 0.7665 | 0.7309 / 0.7646 / 0.7847 / 0.7858 | 0.8357 / 0.8486 / 0.8514 / 0.8543 | 0.4410 / 0.4410 / 0.4410 / 0.4410 | +| **pedestrian** | 5,059 | 0.7449 | 0.7263 / 0.7390 / 0.7484 / 0.7659 | 0.7940 / 0.7986 / 0.8013 / 0.8049 | 0.3963 / 0.3558 / 0.3558 / 0.3558 | + + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6949** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 10,994 | 0.8735 | 0.7972 / 0.8845 / 0.9022 / 0.9102 | 0.8363 / 0.8835 / 0.8961 / 0.8982 | 0.3346 / 0.3276 / 0.3204 / 0.3205 | +| **truck** | 1,011 | 0.6535 | 0.5250 / 0.6628 / 0.7069 / 0.7194 | 0.6387 / 0.7198 / 0.7457 / 0.7519 | 0.3617 / 0.3105 / 0.3014 / 0.3014 | +| **bus** | 143 | 0.8570 | 0.7995 / 0.8688 / 0.8779 / 0.8816 | 0.8345 / 0.8797 / 0.9072 / 0.9072 | 0.4633 / 0.4582 / 0.4582 / 0.4582 | +| **bicycle** | 463 | 0.4831 | 0.3960 / 0.4978 / 0.5193 / 0.5193 | 0.6207 / 0.6701 / 0.6777 / 0.6777 | 0.3341 / 0.3295 / 0.3295 / 0.3295 | +| **pedestrian** | 3,754 | 0.6076 | 0.5886 / 0.6035 / 0.6104 / 0.6277 | 0.6959 / 0.7017 / 0.7034 / 0.7103 | 0.3199 / 0.3202 / 0.3199 / 0.3199 | + + +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4864** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ----- | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 3,018 | 0.6687 | 0.5756 / 0.6826 / 0.7039 / 0.7127 | 0.6790 / 0.7392 / 0.7559 / 0.7600 | 0.3459 / 0.3139 / 0.3140 / 0.3140 | +| **truck** | 602 | 0.5644 | 0.3862 / 0.5744 / 0.6334 / 0.6633 | 0.5291 / 0.6465 / 0.7026 / 0.7228 | 0.3717 / 0.3006 / 0.3574 / 0.3476 | +| **bus** | 60 | 0.4970 | 0.2414 / 0.5438 / 0.6014 / 0.6014 | 0.4948 / 0.6804 / 0.7048 / 0.7048 | 0.4733 / 0.4733 / 0.4020 / 0.4020 | +| **bicycle** | 85 | 0.2689 | 0.1644 / 0.2817 / 0.3148 / 0.3148 | 0.3804 / 0.4875 / 0.5128 / 0.5128 | 0.3001 / 0.3105 / 0.3147 / 0.3147 | +| **pedestrian** | 1,121 | 0.4328 | 0.4167 / 0.4275 / 0.4353 / 0.4515 | 0.5673 / 0.5723 / 0.5751 / 0.5788 | 0.3566 / 0.3566 / 0.3269 / 0.3269 | + + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7550** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 28,895 | 0.9051 | 0.8491 / 0.9129 / 0.9255 / 0.9328 | 0.8762 / 0.9128 / 0.9213 / 0.9228 | 0.3549 / 0.3276 / 0.3257 / 0.3259 | +| **truck** | 2,806 | 0.7221 | 0.5988 / 0.7334 / 0.7718 / 0.7846 | 0.6921 / 0.7670 / 0.7988 / 0.8053 | 0.3717 / 0.3527 / 0.3574 / 0.3553 | +| **bus** | 539 | 0.8367 | 0.7347 / 0.8523 / 0.8787 / 0.8812 | 0.8035 / 0.8775 / 0.9060 / 0.9060 | 0.4811 / 0.4721 / 0.4582 / 0.4582 | +| **bicycle** | 1,288 | 0.6428 | 0.5862 / 0.6476 / 0.6681 / 0.6693 | 0.7336 / 0.7656 / 0.7726 / 0.7743 | 0.3875 / 0.3721 / 0.3341 / 0.3341 | +| **pedestrian** | 9,934 | 0.6683 | 0.6493 / 0.6635 / 0.6716 / 0.6887 | 0.7328 / 0.7377 / 0.7399 / 0.7451 | 0.3575 / 0.3575 / 0.3564 / 0.3558 | + + +--- + +**J6Gen2**: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 + db_j6gen2_v7 + db_j6gen2_v8 + db_j6gen2_v9 (3,951 frames) + +**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8513** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 49,637 | 0.9424 | 0.9086 / 0.9462 / 0.9569 / 0.9581 | 0.9249 / 0.9500 / 0.9556 / 0.9564 | 0.3598 / 0.3484 / 0.3365 / 0.3396 | +| **truck** | 5,754 | 0.8121 | 0.7051 / 0.8227 / 0.8513 / 0.8694 | 0.7710 / 0.8293 / 0.8574 / 0.8753 | 0.3906 / 0.3760 / 0.3688 / 0.3435 | +| **bus** | 1,939 | 0.9205 | 0.8632 / 0.9278 / 0.9453 / 0.9457 | 0.8853 / 0.9262 / 0.9434 / 0.9450 | 0.4706 / 0.3754 / 0.3754 / 0.3754 | +| **bicycle** | 639 | 0.8406 | 0.8315 / 0.8436 / 0.8436 / 0.8436 | 0.8891 / 0.8940 / 0.8940 / 0.8940 | 0.4319 / 0.4319 / 0.4319 / 0.4319 | +| **pedestrian** | 14,362 | 0.7409 | 0.7156 / 0.7354 / 0.7472 / 0.7652 | 0.7796 / 0.7879 / 0.7916 / 0.7973 | 0.3811 / 0.3811 / 0.3775 / 0.3775 | + + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6542** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 47,568 | 0.7901 | 0.7055 / 0.7954 / 0.8244 / 0.8353 | 0.7781 / 0.8309 / 0.8508 / 0.8556 | 0.3384 / 0.3328 / 0.3218 / 0.3147 | +| **truck** | 4,090 | 0.5932 | 0.4501 / 0.5933 / 0.6489 / 0.6805 | 0.5836 / 0.6773 / 0.7188 / 0.7429 | 0.3910 / 0.3628 / 0.3619 / 0.3448 | +| **bus** | 1,935 | 0.7404 | 0.5906 / 0.7466 / 0.8045 / 0.8198 | 0.6774 / 0.7693 / 0.8197 / 0.8307 | 0.4939 / 0.3608 / 0.3489 / 0.3489 | +| **bicycle** | 295 | 0.5879 | 0.5507 / 0.5973 / 0.5984 / 0.6051 | 0.6692 / 0.6942 / 0.6942 / 0.6942 | 0.4293 / 0.3840 / 0.3840 / 0.3840 | +| **pedestrian** | 6,529 | 0.5592 | 0.5321 / 0.5538 / 0.5675 / 0.5835 | 0.6313 / 0.6422 / 0.6470 / 0.6542 | 0.3808 / 0.3814 / 0.3803 / 0.3709 | + + +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4124** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------ | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 17,353 | 0.5572 | 0.4551 / 0.5598 / 0.5997 / 0.6140 | 0.5959 / 0.6616 / 0.6900 / 0.6984 | 0.3234 / 0.3088 / 0.3053 / 0.2978 | +| **truck** | 2,570 | 0.3729 | 0.1830 / 0.3512 / 0.4478 / 0.5095 | 0.3775 / 0.4948 / 0.5716 / 0.6197 | 0.3579 / 0.3174 / 0.2903 / 0.3139 | +| **bus** | 316 | 0.3160 | 0.1725 / 0.3034 / 0.3872 / 0.4010 | 0.3685 / 0.4723 / 0.5259 / 0.5394 | 0.2987 / 0.2987 / 0.2987 / 0.3407 | +| **bicycle** | 70 | 0.4766 | 0.4324 / 0.4704 / 0.5019 / 0.5019 | 0.5902 / 0.6230 / 0.6393 / 0.6393 | 0.4065 / 0.4065 / 0.4065 / 0.4065 | +| **pedestrian** | 1,673 | 0.3394 | 0.3258 / 0.3352 / 0.3451 / 0.3517 | 0.4874 / 0.4918 / 0.4965 / 0.5002 | 0.3561 / 0.3416 / 0.3374 / 0.3374 | + + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7465** + + +| class_name | Count | mAP | [AP@0.5](mailto:AP@0.5)/1.0/2.0/4.0 | [max_f1@0.5](mailto:max_f1@0.5)/1.0/2.0/4.0 | [Optimal_conf@0.5](mailto:Optimal_conf@0.5)/1.0/2.0/4.0 | +| -------------- | ------- | ------ | ----------------------------------- | ------------------------------------------- | ------------------------------------------------------- | +| **car** | 114,558 | 0.8363 | 0.7714 / 0.8428 / 0.8608 / 0.8701 | 0.8215 / 0.8630 / 0.8779 / 0.8811 | 0.3473 / 0.3295 / 0.3226 / 0.3227 | +| **truck** | 12,414 | 0.6636 | 0.5253 / 0.6657 / 0.7163 / 0.7471 | 0.6397 / 0.7179 / 0.7592 / 0.7862 | 0.3914 / 0.3579 / 0.3492 / 0.3448 | +| **bus** | 4,190 | 0.8079 | 0.7014 / 0.8132 / 0.8535 / 0.8635 | 0.7631 / 0.8284 / 0.8630 / 0.8696 | 0.4922 / 0.3608 / 0.3745 / 0.3407 | +| **bicycle** | 1,004 | 0.7525 | 0.7349 / 0.7571 / 0.7586 / 0.7596 | 0.8086 / 0.8204 / 0.8215 / 0.8215 | 0.4293 / 0.4293 / 0.4293 / 0.4293 | +| **pedestrian** | 22,564 | 0.6721 | 0.6469 / 0.6660 / 0.6795 / 0.6958 | 0.7156 / 0.7246 / 0.7286 / 0.7346 | 0.3811 / 0.3808 / 0.3811 / 0.3811 | + +
+ +--- + ### CenterPoint J6Gen2_Base/2.6.1
diff --git a/projects/CenterPoint/docs/CenterPoint/v2/jpntaxi_base.md b/projects/CenterPoint/docs/CenterPoint/v2/jpntaxi_base.md index cce303729..c8365cfab 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/jpntaxi_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/jpntaxi_base.md @@ -5,9 +5,9 @@ vehicle and sensor setups. ### Main Parameters - - **Range:** 122.40m + - **Range (x,y):** [-122.40, 122.40] m - **Voxel Size:** [0.24, 0.24, 8.0] - - **Grid Size:** [510, 510, 1] + - **Grid Size:** [1020, 1020, 1] - **With Intensity** ### Testing Datasets