From be667b9641c565b2f3a8bc10d0b36e4f822775a5 Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 20 May 2026 16:07:31 +0900 Subject: [PATCH 1/7] chore: init readme for quant Signed-off-by: vividf --- .../docs/CenterPoint/v2/j6gen2_base.md | 194 +++++++++++++++++- 1 file changed, 193 insertions(+), 1 deletion(-) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index 261a5d7fa..588fdb3c3 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -5,7 +5,7 @@ - **Range:** 122.40m - **Voxel Size:** [0.24, 0.24, 8.0] - - **Grid Size:** [510, 510, 1] + - **Grid Size:** [1020, 1020, 1] - **With Intensity** ### Testing Datasets @@ -40,6 +40,7 @@ | 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 | ? | ? | ? | ? | ? | ? | | 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 +51,7 @@ | Model version | mAP | car
(58,562) | truck
(5,101) | bus
(2,078) | bicycle
(758) | pedestrian
(10,283) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +62,7 @@ | Model version | mAP | car
(20,371) | truck
(3,172) | bus
(376) | bicycle
(155) | pedestrian
(2,794) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +73,7 @@ | 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 | ? | ? | ? | ? | ? | ? | | 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 +96,7 @@ | Model version | mAP | car
(14,883) | truck
(1,193) | bus
(336) | bicycle
(740) | pedestrian
(5,059) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +107,7 @@ | Model version | mAP | car
(10,994) | truck
(1,011) | bus
(143) | bicycle
(463) | pedestrian
(3,754) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +118,7 @@ | Model version | mAP | car
(3,018) | truck
(602) | bus
(60) | bicycle
(85) | pedestrian
(1,121) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +129,7 @@ | Model version | mAP | car
(28,895) | truck
(2,806) | bus
(539) | bicycle
(1,288) | pedestrian
(9,934) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +158,7 @@ | Model version | mAP | car
(49,637) | truck
(5,754) | bus
(1,939) | bicycle
(639) | pedestrian
(14,362) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +169,7 @@ | Model version | mAP | car
(47,568) | truck
(4,090) | bus
(1,935) | bicycle
(295) | pedestrian
(6,529) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +180,7 @@ | Model version | mAP | car
(17,353) | truck
(2,570) | bus
(316) | bicycle
(70) | pedestrian
(1,673) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | + | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | | 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 +191,7 @@ | 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 | ? | ? | ? | ? | ? | ? | | 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 +201,186 @@ ## 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. +- 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.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/8551451c-f6c5-4eca-bc01-5895015e25bf?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1qP3qV-1HpHpyWnmEwOvl_zv6gjw-DfW3/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/logs.zip) + - [Google drive](https://drive.google.com/file/d/1gykcFv1auDYSVCPggkrI6ieUH-vyp_D_/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/epoch_29.pth) + - [Google drive](https://drive.google.com/file/d/1xUvDvyoSi67nuT_a_6Ke61B5etn6yc7W/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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 64,462 | 0.9469 | 0.9166 / 0.9551 / 0.9576 / 0.9585 | 0.9276 / 0.9529 / 0.9580 / 0.9589 | 0.3584 / 0.3485 / 0.3365 / 0.3318 | +| **truck** | 6,945 | 0.8174 | 0.7137 / 0.8270 / 0.8542 / 0.8747 | 0.7767 / 0.8353 / 0.8621 / 0.8775 | 0.3934 / 0.3760 / 0.3510 / 0.3464 | +| **bus** | 2,273 | 0.9167 | 0.8521 / 0.9253 / 0.9445 / 0.9450 | 0.8780 / 0.9225 / 0.9404 / 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** | 19,405 | 0.7424 | 0.7184 / 0.7369 / 0.7482 / 0.7662 | 0.7831 / 0.7902 / 0.7938 / 0.7989 | 0.3775 / 0.3775 / 0.3775 / 0.3667 | + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6513** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 58,528 | 0.8058 | 0.7255 / 0.8105 / 0.8384 / 0.8488 | 0.7890 / 0.8409 / 0.8594 / 0.8636 | 0.3379 / 0.3254 / 0.3224 / 0.3149 | +| **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** | 2,074 | 0.7458 | 0.6040 / 0.7505 / 0.8052 / 0.8235 | 0.6887 / 0.7754 / 0.8216 / 0.8322 | 0.4939 / 0.3608 / 0.3489 / 0.3582 | +| **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** | 10,281 | 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): 0.4122** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 20,369 | 0.5740 | 0.4744 / 0.5777 / 0.6151 / 0.6288 | 0.6089 / 0.6735 / 0.7000 / 0.7074 | 0.3212 / 0.3094 / 0.3094 / 0.3054 | +| **truck** | 3,172 | 0.4100 | 0.2208 / 0.3957 / 0.4841 / 0.5394 | 0.4075 / 0.5246 / 0.5943 / 0.6390 | 0.3556 / 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 | 0.3765 | 0.3623 / 0.3719 / 0.3810 / 0.3906 | 0.5188 / 0.5234 / 0.5270 / 0.5304 | 0.3566 / 0.3566 / 0.3566 / 0.3561 | + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7391** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 143,359 | 0.8500 | 0.7861 / 0.8571 / 0.8739 / 0.8828 | 0.8326 / 0.8732 / 0.8867 / 0.8896 | 0.3472 / 0.3296 / 0.3227 / 0.3224 | +| **truck** | 15,218 | 0.6741 | 0.5389 / 0.6774 / 0.7273 / 0.7529 | 0.6488 / 0.7267 / 0.7663 / 0.7895 | 0.3911 / 0.3579 / 0.3492 / 0.3447 | +| **bus** | 4,723 | 0.8108 | 0.7038 / 0.8202 / 0.8548 / 0.8644 | 0.7676 / 0.8311 / 0.8650 / 0.8701 | 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** | 32,480 | 0.6710 | 0.6477 / 0.6650 / 0.6773 / 0.6939 | 0.7204 / 0.7279 / 0.7313 / 0.7369 | 0.3803 / 0.3803 / 0.3808 / 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): 0.8400** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 14,883 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | +| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | +| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | +| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | +| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7084** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 10,994 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | +| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | +| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | +| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | +| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | + +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4939** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 3,018 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | +| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | +| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | +| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | +| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7601** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 28,895 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | +| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | +| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | +| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | +| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | + +--- + +**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): 0.8465** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | +| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | +| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | +| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | +| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | + +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6560** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | +| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | +| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | +| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | +| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | + +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4152** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | +| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | +| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | +| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | +| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | + +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7426** + +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | +| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | +| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | +| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | +| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | + +
+ +--- + + + + ### CenterPoint J6Gen2_Base/2.6.1
From 598b2b32a800d94c9f4887c8fa8a17735f57648d Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 21 May 2026 17:41:20 +0900 Subject: [PATCH 2/7] chore: update 2.6.1 quant result Signed-off-by: vividf --- .../docs/CenterPoint/v2/j6gen2_base.md | 156 +++++++++--------- 1 file changed, 78 insertions(+), 78 deletions(-) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index 588fdb3c3..6dc25cd1b 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -40,7 +40,7 @@ | 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 | ? | ? | ? | ? | ? | ? | + | 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 | @@ -51,7 +51,7 @@ | Model version | mAP | car
(58,562) | truck
(5,101) | bus
(2,078) | bicycle
(758) | pedestrian
(10,283) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -62,7 +62,7 @@ | Model version | mAP | car
(20,371) | truck
(3,172) | bus
(376) | bicycle
(155) | pedestrian
(2,794) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -73,7 +73,7 @@ | 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 | ? | ? | ? | ? | ? | ? | + | 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 | @@ -96,7 +96,7 @@ | Model version | mAP | car
(14,883) | truck
(1,193) | bus
(336) | bicycle
(740) | pedestrian
(5,059) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -107,7 +107,7 @@ | Model version | mAP | car
(10,994) | truck
(1,011) | bus
(143) | bicycle
(463) | pedestrian
(3,754) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -118,7 +118,7 @@ | Model version | mAP | car
(3,018) | truck
(602) | bus
(60) | bicycle
(85) | pedestrian
(1,121) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -129,7 +129,7 @@ | Model version | mAP | car
(28,895) | truck
(2,806) | bus
(539) | bicycle
(1,288) | pedestrian
(9,934) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -158,7 +158,7 @@ | Model version | mAP | car
(49,637) | truck
(5,754) | bus
(1,939) | bicycle
(639) | pedestrian
(14,362) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -169,7 +169,7 @@ | Model version | mAP | car
(47,568) | truck
(4,090) | bus
(1,935) | bicycle
(295) | pedestrian
(6,529) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -180,7 +180,7 @@ | Model version | mAP | car
(17,353) | truck
(2,570) | bus
(316) | bicycle
(70) | pedestrian
(1,673) | | -------------------------| ---- | ------------------- | ------------------- | ------------------- | ------------------- | ------------------- | - | CenterPoint J6Gen2_Base/2.6.1_quant | ? | ? | ? | ? | ? | ? | + | 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 | @@ -191,7 +191,7 @@ | 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 | ? | ? | ? | ? | ? | ? | + | 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 | @@ -225,7 +225,7 @@ Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/8551451c-f6c5-4eca-bc01-5895015e25bf?project_id=zWhWRzei) + - [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/deployment.zip) - [Google drive](https://drive.google.com/file/d/1qP3qV-1HpHpyWnmEwOvl_zv6gjw-DfW3/view?usp=drive_link) - Logs (for internal) @@ -250,129 +250,129 @@ | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 64,462 | 0.9469 | 0.9166 / 0.9551 / 0.9576 / 0.9585 | 0.9276 / 0.9529 / 0.9580 / 0.9589 | 0.3584 / 0.3485 / 0.3365 / 0.3318 | -| **truck** | 6,945 | 0.8174 | 0.7137 / 0.8270 / 0.8542 / 0.8747 | 0.7767 / 0.8353 / 0.8621 / 0.8775 | 0.3934 / 0.3760 / 0.3510 / 0.3464 | -| **bus** | 2,273 | 0.9167 | 0.8521 / 0.9253 / 0.9445 / 0.9450 | 0.8780 / 0.9225 / 0.9404 / 0.9412 | 0.4706 / 0.4083 / 0.4083 / 0.3754 | +| **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** | 19,405 | 0.7424 | 0.7184 / 0.7369 / 0.7482 / 0.7662 | 0.7831 / 0.7902 / 0.7938 / 0.7989 | 0.3775 / 0.3775 / 0.3775 / 0.3667 | +| **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): 0.6513** +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6514** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 58,528 | 0.8058 | 0.7255 / 0.8105 / 0.8384 / 0.8488 | 0.7890 / 0.8409 / 0.8594 / 0.8636 | 0.3379 / 0.3254 / 0.3224 / 0.3149 | +| **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** | 2,074 | 0.7458 | 0.6040 / 0.7505 / 0.8052 / 0.8235 | 0.6887 / 0.7754 / 0.8216 / 0.8322 | 0.4939 / 0.3608 / 0.3489 / 0.3582 | +| **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** | 10,281 | 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 | +| **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): 0.4122** +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4121** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 20,369 | 0.5740 | 0.4744 / 0.5777 / 0.6151 / 0.6288 | 0.6089 / 0.6735 / 0.7000 / 0.7074 | 0.3212 / 0.3094 / 0.3094 / 0.3054 | -| **truck** | 3,172 | 0.4100 | 0.2208 / 0.3957 / 0.4841 / 0.5394 | 0.4075 / 0.5246 / 0.5943 / 0.6390 | 0.3556 / 0.3177 / 0.3185 / 0.3139 | +| **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 | 0.3765 | 0.3623 / 0.3719 / 0.3810 / 0.3906 | 0.5188 / 0.5234 / 0.5270 / 0.5304 | 0.3566 / 0.3566 / 0.3566 / 0.3561 | +| **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): 0.7391** +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7392** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 143,359 | 0.8500 | 0.7861 / 0.8571 / 0.8739 / 0.8828 | 0.8326 / 0.8732 / 0.8867 / 0.8896 | 0.3472 / 0.3296 / 0.3227 / 0.3224 | -| **truck** | 15,218 | 0.6741 | 0.5389 / 0.6774 / 0.7273 / 0.7529 | 0.6488 / 0.7267 / 0.7663 / 0.7895 | 0.3911 / 0.3579 / 0.3492 / 0.3447 | -| **bus** | 4,723 | 0.8108 | 0.7038 / 0.8202 / 0.8548 / 0.8644 | 0.7676 / 0.8311 / 0.8650 / 0.8701 | 0.4922 / 0.3745 / 0.3844 / 0.3742 | +| **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** | 32,480 | 0.6710 | 0.6477 / 0.6650 / 0.6773 / 0.6939 | 0.7204 / 0.7279 / 0.7313 / 0.7369 | 0.3803 / 0.3803 / 0.3808 / 0.3808 | +| **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): 0.8400** +**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8379** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 14,883 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | -| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | -| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | -| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | -| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | +| **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): 0.7084** +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6949** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 10,994 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | -| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | -| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | -| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | -| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | +| **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): 0.4939** +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4864** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 3,018 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | -| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | -| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | -| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | -| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | +| **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): 0.7601** +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7550** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 28,895 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | -| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | -| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | -| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | -| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | +| **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): 0.8465** +**Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8513** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | -| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | -| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | -| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | -| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | +| **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): 0.6560** +**Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6542** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | -| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | -| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | -| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | -| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | +| **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): 0.4152** +**Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4124** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | -| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | -| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | -| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | -| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | +| **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): 0.7426** +**Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7465** | class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | | :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | -| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | -| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | -| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | -| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | +| **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 |
From cb1735ae2d83e80c04564a3c0f83e4bfea808ae0 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 21 May 2026 18:07:49 +0900 Subject: [PATCH 3/7] chore: update links Signed-off-by: vividf --- .../docs/CenterPoint/v2/j6gen2_base.md | 1145 ++++++++--------- 1 file changed, 563 insertions(+), 582 deletions(-) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index 6dc25cd1b..bca628a7a 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -1,144 +1,101 @@ # Deployed model for CenterPoint J6Gen2_Base/2.X + ## Summary ### Main Parameters - - **Range:** 122.40m - - **Voxel Size:** [0.24, 0.24, 8.0] - - **Grid Size:** [1020, 1020, 1] - - **With Intensity** +- **Range:** 122.40m +- **Voxel Size:** [0.24, 0.24, 8.0] +- **Grid Size:** [1020, 1020, 1] +- **With Intensity** ### Testing Datasets - **Total Frames: 5,179** -
- 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` -
+ 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` ### mAP - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** + Eval Range: 0.0 - 50.0m -
- Eval Range: 0.0 - 50.0m - - | 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 | - -
- -
- Eval Range: 50.0 - 90.0m - - | 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 | + | 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 | -
+ Eval Range: 50.0 - 90.0m -
- Eval Range: 90.0 - 121.0m + | 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 | - | 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 | + Eval Range: 90.0 - 121.0m -
+ | 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 | -
- Eval Range: 0.0 - 121.0m + Eval Range: 0.0 - 121.0m - | 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 | + | 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 | -
## Datasets -
- LargeBus +LargeBus - Datasets (1,228 Testing Frames): - `db_largebus_v1` - `db_largebus_v2` - `db_largebus_v3` - - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** + Eval Range: 0.0 - 50.0m -
- Eval Range: 0.0 - 50.0m - - | 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 | - -
+ | 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 | -
- Eval Range: 50.0 - 90.0m + Eval Range: 50.0 - 90.0m - | 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 | + | 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 | -
+ Eval Range: 90.0 - 121.0m -
- Eval Range: 90.0 - 121.0m + | 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 | - | 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 | + Eval Range: 0.0 - 121.0m -
+ | 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 | -
- Eval Range: 0.0 - 121.0m - | 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 | -
-
- -
- J6Gen2 +J6Gen2 - Datasets (3,951 Testing Frames): - `db_j6gen2_v1` @@ -150,65 +107,47 @@ - `db_j6gen2_v7` - `db_j6gen2_v8` - `db_j6gen2_v9` - - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** + Eval Range: 0.0 - 50.0m -
- Eval Range: 0.0 - 50.0m + | 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 | - | 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 | + Eval Range: 50.0 - 90.0m -
+ | 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 | -
- Eval Range: 50.0 - 90.0m + Eval Range: 90.0 - 121.0m - | 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 | + | 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 | -
+ Eval Range: 0.0 - 121.0m -
- Eval Range: 90.0 - 121.0m + | 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 | - | 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 | -
-
- Eval Range: 0.0 - 121.0m - - | 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 | - -
- -
## Release - - - - ### CenterPoint J6Gen2_Base/2.6.1_quant -
- Changes +Changes - Applied PTQ quantization to `J6Gen2_Base/2.6.1` to reduce inference latency while maintaining accuracy. - Key performance gains: @@ -219,72 +158,76 @@ - Absolute mAP drop stayed within `0.25%`. - Overall: - INT8 quantization effectively accelerates compute-heavy backbone inference while preserving detection accuracy. -
-
- Artifacts +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/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1qP3qV-1HpHpyWnmEwOvl_zv6gjw-DfW3/view?usp=drive_link) + - [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/logs.zip) - - [Google drive](https://drive.google.com/file/d/1gykcFv1auDYSVCPggkrI6ieUH-vyp_D_/view?usp=drive_link) + - [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/epoch_29.pth) - - [Google drive](https://drive.google.com/file/d/1xUvDvyoSi67nuT_a_6Ke61B5etn6yc7W/view?usp=drive_link) + - [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 +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 +- 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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 | + --- @@ -292,43 +235,51 @@ **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8379** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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 | + --- @@ -336,67 +287,69 @@ **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8513** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | + +| 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@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | 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 | -
+| 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 -
- Changes +Changes - Finetune from `CenterPoint base/2.6.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Train with new datatasets: - `db_j6gen2_v9` - - `db_largebus_v3` + - `db_largebus_v3` - Overall: - Performance is generally better than `CenterPoint base/2.5.0` and `CenterPoint J6Gen2/2.5.1`, especially in new locations -
-
- Artifacts +Artifacts - Deployed onnx and ROS parameter files (for internal) - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/8551451c-f6c5-4eca-bc01-5895015e25bf?project_id=zWhWRzei) @@ -409,10 +362,9 @@ - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1/epoch_29.pth) - [Google drive](https://drive.google.com/file/d/1xUvDvyoSi67nuT_a_6Ke61B5etn6yc7W/view?usp=drive_link) -
-
- Training configs + +Training configs - [Config file path](https://github.com/KSeangTan/AWML/blob/0913734976758079c3e2452fa3a866453a00710d/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_rfs.py) - Train time: NVIDIA H100 80GB * 8 * 30 epochs = 20 hours @@ -421,55 +373,62 @@ - 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 (43,109 frames) - largebus: db_largebus_v1 + db_largebus_v2 + db_largebus_v3 (12,605 frames) -
-
- Evaluation + +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 +- 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): 0.8465** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | -| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | -| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | -| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | -| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | + +| 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 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | +| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | +| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | +| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | +| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | + **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6560** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | -| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | -| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | -| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | -| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | + +| 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 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | +| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | +| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | +| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | +| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | + **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4152** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | -| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | -| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | -| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | -| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | + +| 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 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | +| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | +| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | +| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | +| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | + **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7426** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | -| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | -| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | -| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | -| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | + +| 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 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | +| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | +| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | +| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | +| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | + --- @@ -477,43 +436,51 @@ **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8400** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 14,883 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | -| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | -| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | -| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | -| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | + +| 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 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | +| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | +| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | +| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | +| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | + **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7084** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 10,994 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | -| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | -| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | -| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | -| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | + +| 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 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | +| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | +| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | +| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | +| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | + **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4939** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 3,018 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | -| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | -| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | -| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | -| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | + +| 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 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | +| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | +| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | +| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | +| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | + **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7601** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 28,895 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | -| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | -| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | -| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | -| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | + +| 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 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | +| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | +| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | +| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | +| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | + --- @@ -521,455 +488,466 @@ **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8465** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | -| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | -| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | -| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | -| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | + +| 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 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | +| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | +| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | +| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | +| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | + **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6560** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | -| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | -| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | -| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | -| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | + +| 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 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | +| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | +| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | +| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | +| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | + **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4152** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | -| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | -| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | -| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | -| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | + +| 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 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | +| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | +| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | +| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | +| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | + **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7426** -| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | -| :--- | :--- | :--- | :--- | :--- | :--- | -| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | -| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | -| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | -| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | -| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | -
+| 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 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | +| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | +| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | +| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | +| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | + + + --- ### CenterPoint J6Gen2_Base/2.5.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.5.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Train with new datatasets: - `db_j6gen2_v6` - - `db_j6gen2_v7` - - `db_j6gen2_v8` + - `db_j6gen2_v7` + - `db_j6gen2_v8` - Around a total frames of `18,000` is added compared to `CenterPoint J6Gen2/2.4.1` - Overall: - Performance is generally better than `CenterPoint base/2.5.0` and `CenterPoint J6Gen2/2.4.1` - - However, the performance in `largebus` slightly degrades + - However, the performance in `largebus` slightly degrades -
-
- Artifacts + +Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/5599b337-e151-4f11-abe3-480943d9edec?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1PLhgM8vAJCeI0TvOi7wsg4seWzfJTi7m/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/5599b337-e151-4f11-abe3-480943d9edec?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1PLhgM8vAJCeI0TvOi7wsg4seWzfJTi7m/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1Lw_k5QUs0Wx1W-7mY-KrwtjW-eBc17pv/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1Lw_k5QUs0Wx1W-7mY-KrwtjW-eBc17pv/view?usp=drive_link) + -
-
- Training configs +Training configs - [Config file path](https://github.com/tier4/AWML/blob/dee55764f5381ef75dcac7a17a303b0bf527d400/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_rfs.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 1 day 3 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 48,108): - j6gen2: 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 (37,002 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (11,106 frames) + - largebus: db_largebus_v1 + db_largebus_v2 (11,106 frames) + -
-
- Evaluation +Evaluation **LargeBus**: db_largebus_v1 + db_largebus_v2 (859 frames) **Total mAP (eval range = 120m): 0.765** -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | -------------| ---- | ---- | ---- | ---- | ---- | -| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | -| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | -| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | -| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | -| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | ---- +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | +| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | +| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | +| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | +| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | +--- + **J6Gen2_V6**: db_j6gen2_v6 (636 frames) **Total mAP (eval range = 120m): 0.734** -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | -| car | 23,898 | 85.5 | 79.3 | 85.6 | 88.3 | 88.6 | -| truck | 1,534 | 59.2 | 48.5 | 56.1 | 60.2 | 72.0 | -| bus | 957 | 74.0 | 66.6 | 74.3 | 77.4 | 77.6 | -| bicycle | 163 | 79.3 | 76.4 | 80.3 | 80.3 | 80.3 | -| pedestrian | 4,556 | 69.1 | 67.6 | 68.7 | 69.4 | 70.8 | ---- +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 23,898 | 85.5 | 79.3 | 85.6 | 88.3 | 88.6 | +| truck | 1,534 | 59.2 | 48.5 | 56.1 | 60.2 | 72.0 | +| bus | 957 | 74.0 | 66.6 | 74.3 | 77.4 | 77.6 | +| bicycle | 163 | 79.3 | 76.4 | 80.3 | 80.3 | 80.3 | +| pedestrian | 4,556 | 69.1 | 67.6 | 68.7 | 69.4 | 70.8 | +--- + **J6Gen2:** db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 **Total mAP (eval range = 120m): 0.752** -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | -| car | 66,293 | 84.8 | 78.6 | 84.9 | 87.3 | 88.2 | -| truck | 4,417 | 56.2 | 46.1 | 54.5 | 57.9 | 66.5 | -| bus | 2,353 | 80.7 | 75.6 | 80.6 | 83.0 | 83.7 | -| bicycle | 500 | 84.7 | 83.3 | 85.1 | 85.1 | 85.5 | -| pedestrian | 11,417 | 69.7 | 67.8 | 69.3 | 70.1 | 71.4 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 66,293 | 84.8 | 78.6 | 84.9 | 87.3 | 88.2 | +| truck | 4,417 | 56.2 | 46.1 | 54.5 | 57.9 | 66.5 | +| bus | 2,353 | 80.7 | 75.6 | 80.6 | 83.0 | 83.7 | +| bicycle | 500 | 84.7 | 83.3 | 85.1 | 85.1 | 85.5 | +| pedestrian | 11,417 | 69.7 | 67.8 | 69.3 | 70.1 | 71.4 | + + + --- ### CenterPoint J6Gen2_Base/2.4.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.4.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Overall: - - Performance is better than `CenterPoint J6Gen2/2.3.1`, especially, `truck`, `bicycle` and `pedestrian`, where `bicycle` improves mAP more than `5.0` in `j6gen2_base` dataset + - Performance is better than `CenterPoint J6Gen2/2.3.1`, especially, `truck`, `bicycle` and `pedestrian`, where `bicycle` improves mAP more than `5.0` in `j6gen2_base` dataset -
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- Artifacts + +Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) + -
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- Training configs +Training configs - [Config file path](https://github.com/tier4/AWML/blob/c0ba7268f110062f71ee80a3469102867a63b740/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 1 day 3 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 30,290): - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (21,077 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) + - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) -
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- Evaluation + +Evaluation - db_largebus_v1 + db_largebus_v2 (859 frames): - Total mAP (eval range = 120m): 0.765 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | -------------| ---- | ---- | ---- | ---- | ---- | -| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | -| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | -| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | -| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | -| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | +| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | +| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | +| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | +| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | + --- - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (1,217 frames): - Total mAP (eval range = 120m): 0.767 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | -| car | 40,225 | 83.5 | 77.5 | 83.6 | 85.9 | 86.9 | -| truck | 2,672 | 57.2 | 46.9 | 56.1 | 59.2 | 66.6 | -| bus | 1,388 | 86.1 | 81.3 | 85.2 | 88.6 | 89.3 | -| bicycle | 303 | 86.1 | 85.6 | 86.3 | 86.3 | 86.3 | -| pedestrian | 6,296 | 70.4 | 69.2 | 70.0 | 70.8 | 71.8 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 40,225 | 83.5 | 77.5 | 83.6 | 85.9 | 86.9 | +| truck | 2,672 | 57.2 | 46.9 | 56.1 | 59.2 | 66.6 | +| bus | 1,388 | 86.1 | 81.3 | 85.2 | 88.6 | 89.3 | +| bicycle | 303 | 86.1 | 85.6 | 86.3 | 86.3 | 86.3 | +| pedestrian | 6,296 | 70.4 | 69.2 | 70.0 | 70.8 | 71.8 | + + + --- ### CenterPoint J6Gen2_Base/2.3.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.3.0` with j6gen2 base dataset - Include intensity as an extra feature - - Overall: - - Performance is slightly better than `CenterPoint J6Gen2/2.2.1` + - Performance is slightly better than `CenterPoint J6Gen2/2.2.1` -
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- Artifacts + +Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) + -
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- Training configs +Training configs - [Config file path](https://github.com/tier4/AWML/blob/c0ba7268f110062f71ee80a3469102867a63b740/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 30,290): - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (21,077 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) + - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) -
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- Evaluation + +Evaluation - db_largebus_v1 + db_largebus_v2 (859 frames): - Total mAP (eval range = 120m): 0.748 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | -------------| ---- | ---- | ---- | ---- | ---- | -| car | 16,604 | 91.2 | 86.0 | 92.0 | 93.2 | 93.5 | -| truck | 1,961 | 69.7 | 57.1 | 70.3 | 74.9 | 76.5 | -| bus | 171 | 75.4 | 59.6 | 80.7 | 80.7 | 80.7 | -| bicycle | 863 | 67.7 | 62.0 | 68.9 | 69.9 | 70.0 | -| pedestrian | 4,659 | 69.8 | 68.1 | 69.2 | 70.1 | 71.8 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 16,604 | 91.2 | 86.0 | 92.0 | 93.2 | 93.5 | +| truck | 1,961 | 69.7 | 57.1 | 70.3 | 74.9 | 76.5 | +| bus | 171 | 75.4 | 59.6 | 80.7 | 80.7 | 80.7 | +| bicycle | 863 | 67.7 | 62.0 | 68.9 | 69.9 | 70.0 | +| pedestrian | 4,659 | 69.8 | 68.1 | 69.2 | 70.1 | 71.8 | + --- - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (1,217 frames): - Total mAP (eval range = 120m): 0.743 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | -| car | 40,225 | 84.5 | 78.4 | 84.9 | 87.2 | 87.5 | -| truck | 2,672 | 52.6 | 42.1 | 50.8 | 55.1 | 62.5 | -| bus | 1,388 | 85.7 | 81.9 | 84.2 | 88.0 | 88.7 | -| bicycle | 303 | 81.6 | 79.9 | 81.8 | 82.3 | 82.3 | -| pedestrian | 6,296 | 67.2 | 65.3 | 66.4 | 67.6 | 69.3 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 40,225 | 84.5 | 78.4 | 84.9 | 87.2 | 87.5 | +| truck | 2,672 | 52.6 | 42.1 | 50.8 | 55.1 | 62.5 | +| bus | 1,388 | 85.7 | 81.9 | 84.2 | 88.0 | 88.7 | +| bicycle | 303 | 81.6 | 79.9 | 81.8 | 82.3 | 82.3 | +| pedestrian | 6,296 | 67.2 | 65.3 | 66.4 | 67.6 | 69.3 | + + + --- ### CenterPoint J6Gen2_Base/2.2.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.2.0` with j6gen2 base dataset - Include intensity as an extra feature - - Overall: - Performance is slightly better than `CenterPoint J6Gen2/2.1.1` -
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- Artifacts + +Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/115b1a13-84be-4dde-a9d2-8293e2be36ba?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1AXlkBB1aG7h0kzk5NeU2OIPlRZS2YfwQ/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/115b1a13-84be-4dde-a9d2-8293e2be36ba?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1AXlkBB1aG7h0kzk5NeU2OIPlRZS2YfwQ/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i09BfY6LcVjSb4pYHL7IVIRP4Eus2Joo/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i09BfY6LcVjSb4pYHL7IVIRP4Eus2Joo/view?usp=drive_link) + -
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- Training configs +Training configs - [Config file path](https://github.com/tier4/AWML/blob/81314d29d4efa560952324c48ef7c0ea1e56f1ee/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) -
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- Evaluation + +Evaluation - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7467 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ------- | ---- | ---- | ---- | ---- | ---- | -| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | -| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | -| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | -| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | -| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | +| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | +| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | +| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | +| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | + --- - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v2 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7524 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ------ | ---- | ---- | ---- | ---- | ---- | -| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | -| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | -| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | -| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | -| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | +| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | +| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | +| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | +| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | + + + --- ### CenterPoint J6Gen2_Base/2.1.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.1.0` - Include intensity as an extra feature - Overall: - - Similar performance compared to `CenterPoint J6Gen2/2.0.1` + - Similar performance compared to `CenterPoint J6Gen2/2.0.1` + -
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- Artifacts +Artifacts - Deployed onnx model and ROS parameter files [[WebAuto (for internal)]](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/ae4e48e2-d9ed-4db0-8ee9-daf1f566e8f1?project_id=zWhWRzei) - Deployed onnx and ROS parameter files [[model-zoo]] - - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/detection_class_remapper.param.yaml) - - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/centerpoint_ml_package.param.yaml) - - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) - - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_voxel_encoder_centerpoint.onnx) - - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_backbone_neck_head_centerpoint.onnx) + - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/detection_class_remapper.param.yaml) + - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/centerpoint_ml_package.param.yaml) + - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) + - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_voxel_encoder_centerpoint.onnx) + - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_backbone_neck_head_centerpoint.onnx) - Training results [[Google drive (for internal)]](https://drive.google.com/drive/u/0/folders/1Kie3hE91QgjemJlv0WlK_WHO37q47Mi1) - Training results [model-zoo] - - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/logs.zip) - - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) - - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/second_secfpn_4xb16_121m_j6gen2.py) + - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/logs.zip) + - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) + - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/second_secfpn_4xb16_121m_j6gen2.py) -
-
- Training configs + +Training configs - [Config file path](https://github.com/tier4/AWML/blob/69aba0d001fd26282880a7a3e7622b89115042de/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) -
-
- Evaluation + +Evaluation - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v4 + + db_largebus_v1 (total frames: 1,761): - Total mAP (eval range = 120m): 0.7410 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| -----------| ------- | ------ | ------- | ------- | ------- | ------- | -| car | 57,839 | 85.8 | 79.7 | 86.2 | 88.5 | 88.8 | -| truck | 4,608 | 61.7 | 49.6 | 62.2 | 65.1 | 70.0 | -| bus | 1,559 | 84.9 | 80.4 | 84.3 | 87.5 | 87.5 | -| bicycle | 1,057 | 70.6 | 67.3 | 71.0 | 72.1 | 72.1 | -| pedestrian | 10,375 | 67.2 | 65.6 | 66.7 | 67.5 | 69.1 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 57,839 | 85.8 | 79.7 | 86.2 | 88.5 | 88.8 | +| truck | 4,608 | 61.7 | 49.6 | 62.2 | 65.1 | 70.0 | +| bus | 1,559 | 84.9 | 80.4 | 84.3 | 87.5 | 87.5 | +| bicycle | 1,057 | 70.6 | 67.3 | 71.0 | 72.1 | 72.1 | +| pedestrian | 10,375 | 67.2 | 65.6 | 66.7 | 67.5 | 69.1 | + --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.75 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| -----------| ------- | ----- | ------- | ------- | ------- | ------- | -| car | 13,831 | 90.4 | 85.1 | 91.2 | 92.4 | 92.6 | -| truck | 2,137 | 70.4 | 55.9 | 72.1 | 75.3 | 78.5 | -| bus | 95 | 79.6 | 76.1 | 80.6 | 80.9 | 80.9 | -| bicycle | 724 | 67.5 | 63.1 | 67.9 | 69.1 | 69.9 | -| pedestrian | 3,916 | 67.0 | 65.2 | 66.6 | 67.3 | 68.9 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 13,831 | 90.4 | 85.1 | 91.2 | 92.4 | 92.6 | +| truck | 2,137 | 70.4 | 55.9 | 72.1 | 75.3 | 78.5 | +| bus | 95 | 79.6 | 76.1 | 80.6 | 80.9 | 80.9 | +| bicycle | 724 | 67.5 | 63.1 | 67.9 | 69.1 | 69.9 | +| pedestrian | 3,916 | 67.0 | 65.2 | 66.6 | 67.3 | 68.9 | + --- - db_j6gen2_v1 + db_j6gen2_v2 +db_j6gen2_v4 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7460 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---------- | ------ | ---- | ------- | ------- | ------- | ------- | -| car | 44,008 | 84.7 | 78.2 | 84.8 | 87.2 | 88.3 | -| truck | 2,471 | 54.7 | 44.5 | 54.4 | 56.8 | 62.9 | -| bus | 1,464 | 85.5 | 80.8 | 84.6 | 87.9 | 88.6 | -| bicycle | 333 | 79.1 | 78.2 | 79.4 | 79.4 | 79.4 | -| pedestrian | 6,459 | 67.4 | 65.7 | 66.7 | 67.7 | 69.4 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 44,008 | 84.7 | 78.2 | 84.8 | 87.2 | 88.3 | +| truck | 2,471 | 54.7 | 44.5 | 54.4 | 56.8 | 62.9 | +| bus | 1,464 | 85.5 | 80.8 | 84.6 | 87.9 | 88.6 | +| bicycle | 333 | 79.1 | 78.2 | 79.4 | 79.4 | 79.4 | +| pedestrian | 6,459 | 67.4 | 65.7 | 66.7 | 67.7 | 69.4 | + --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7467 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ------- | ---- | ---- | ---- | ---- | ---- | -| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | -| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | -| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | -| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | -| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | +| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | +| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | +| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | +| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | + --- - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v2 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7524 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---- | ------ | ---- | ---- | ---- | ---- | ---- | -| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | -| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | -| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | -| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | -| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | +| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | +| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | +| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | +| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | + + + --- ### CenterPoint J6Gen2_Base/2.0.1 -
- Changes +Changes - Finetune from `CenterPoint base/2.0.0` - Include intensity as an extra feature @@ -981,76 +959,79 @@ - Bicycle detection slightly drops in 2.0.1 but by a negligible margin (`−0.21 AP`). - `J6Gen2/2.0.1` is a clear upgrade over `J6Gen2/1.7.1` in terms of detection accuracy, especially for trucks and pedestrians, with only a very minor tradeoff in bicycle detection -
-
- Artifacts + +Artifacts - Deployed onnx model and ROS parameter files [[WebAuto (for internal)]](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/2ea64514-ad8b-4943-830f-5bd570988828?project_id=zWhWRzei) - Deployed onnx and ROS parameter files [[model-zoo]] - - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/detection_class_remapper.param.yaml) - - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/centerpoint_ml_package.param.yaml) - - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) - - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_voxel_encoder.onnx) - - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_backbone_neck_head.onnx) + - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/detection_class_remapper.param.yaml) + - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/centerpoint_ml_package.param.yaml) + - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) + - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_voxel_encoder.onnx) + - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_backbone_neck_head.onnx) - Training results [[Google drive (for internal)]](https://drive.google.com/drive/folders/1x2LUu1hyoeroOdRtTxAPQsKLXDi2TuAc?usp=drive_link) - Training results [model-zoo] - - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/logs.zip) - - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) - - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/second_secfpn_4xb16_121m_j6gen2.py) + - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/logs.zip) + - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) + - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/second_secfpn_4xb16_121m_j6gen2.py) + -
-
- Training configs +Training configs - [Config file path](https://github.com/tier4/AWML/blob/b1f498a6802f68c36a1d02b9780f72e25a413ee3/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) -
-
- Evaluation + +Evaluation - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v4 + + db_largebus_v1 (total frames: 1,761): - Total mAP (eval range = 120m): 0.7401 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| -----------| ------- | ------ | ------- | ------- | ------- | ------- | -| car | 57,839 | 85.97 | 80.0 | 86.3 | 88.6 | 88.9 | -| truck | 4,608 | 62.57 | 49.2 | 63.2 | 66.8 | 71.1 | -| bus | 1,559 | 83.36 | 78.6 | 82.1 | 86.0 | 86.7 | -| bicycle | 1,057 | 71.05 | 65.6 | 72.2 | 73.2 | 73.2 | -| pedestrian | 10,375 | 67.10 | 65.2 | 66.3 | 67.6 | 69.4 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 57,839 | 85.97 | 80.0 | 86.3 | 88.6 | 88.9 | +| truck | 4,608 | 62.57 | 49.2 | 63.2 | 66.8 | 71.1 | +| bus | 1,559 | 83.36 | 78.6 | 82.1 | 86.0 | 86.7 | +| bicycle | 1,057 | 71.05 | 65.6 | 72.2 | 73.2 | 73.2 | +| pedestrian | 10,375 | 67.10 | 65.2 | 66.3 | 67.6 | 69.4 | + --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7473 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| -----------| ------- | ----- | ------- | ------- | ------- | ------- | -| car | 13,831 | 90.53 | 85.4 | 91.3 | 92.6 | 92.8 | -| truck | 2,137 | 69.55 | 54.1 | 71.0 | 75.4 | 77.6 | -| bus | 95 | 80.06 | 76.5 | 80.4 | 81.7 | 81.7 | -| bicycle | 724 | 65.72 | 58.8 | 66.7 | 68.7 | 68.7 | -| pedestrian | 3,916 | 67.82 | 66.1 | 67.3 | 68.0 | 69.9 | + +| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 13,831 | 90.53 | 85.4 | 91.3 | 92.6 | 92.8 | +| truck | 2,137 | 69.55 | 54.1 | 71.0 | 75.4 | 77.6 | +| bus | 95 | 80.06 | 76.5 | 80.4 | 81.7 | 81.7 | +| bicycle | 724 | 65.72 | 58.8 | 66.7 | 68.7 | 68.7 | +| pedestrian | 3,916 | 67.82 | 66.1 | 67.3 | 68.0 | 69.9 | + --- - db_j6gen2_v1 + db_j6gen2_v2 +db_j6gen2_v4 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7460 -| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | -| ---------- | ------ | ---- | ------- | ------- | ------- | ------- | -| car | 44,008 | 84.83 | 78.6 | 84.9 | 87.4 | 88.4 | -| truck | 2,471 | 56.48 | 44.7 | 56.5 | 59.1 | 65.7 | -| bus | 1,464 | 83.70 | 78.7 | 82.2 | 87.0 | 87.0 | -| bicycle | 333 | 81.06 | 79.3 | 81.3 | 81.8 | 81.8 | -| pedestrian | 6,459 | 66.91 | 65.1 | 66.0 | 67.5 | 69.1 | -
+| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | +| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | +| car | 44,008 | 84.83 | 78.6 | 84.9 | 87.4 | 88.4 | +| truck | 2,471 | 56.48 | 44.7 | 56.5 | 59.1 | 65.7 | +| bus | 1,464 | 83.70 | 78.7 | 82.2 | 87.0 | 87.0 | +| bicycle | 333 | 81.06 | 79.3 | 81.3 | 81.8 | 81.8 | +| pedestrian | 6,459 | 66.91 | 65.1 | 66.0 | 67.5 | 69.1 | + + + --- From 52893146616464fb5753157a42856fcafe722a3c Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 21 May 2026 18:26:59 +0900 Subject: [PATCH 4/7] chore: fix layout Signed-off-by: vividf --- .../docs/CenterPoint/v2/j6gen2_base.md | 801 +++++++++--------- 1 file changed, 404 insertions(+), 397 deletions(-) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index bca628a7a..d60e22368 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -1,55 +1,83 @@ # Deployed model for CenterPoint J6Gen2_Base/2.X - ## Summary ### Main Parameters -- **Range:** 122.40m -- **Voxel Size:** [0.24, 0.24, 8.0] -- **Grid Size:** [1020, 1020, 1] -- **With Intensity** + - **Range:** 122.40m + - **Voxel Size:** [0.24, 0.24, 8.0] + - **Grid Size:** [1020, 1020, 1] + - **With Intensity** ### Testing Datasets - **Total Frames: 5,179** - 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` +
+ 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` +
### mAP - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** - Eval Range: 0.0 - 50.0m - | Model version | mAP | car (64,520) | truck (6,947) | bus (2,275) | bicycle (1,379) | pedestrian (19,421) | - | ----------------------------------- | ----- | ------------ | ------------- | ----------- | --------------- | ------------------- | +
+ Eval Range: 0.0 - 50.0m + + | 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 | + | 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 | - Eval Range: 50.0 - 90.0m +
- | Model version | mAP | car (58,562) | truck (5,101) | bus (2,078) | bicycle (758) | pedestrian (10,283) | - | ----------------------------------- | ----- | ------------ | ------------- | ----------- | ------------- | ------------------- | +
+ Eval Range: 50.0 - 90.0m + + | 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 | + | 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 | - Eval Range: 90.0 - 121.0m +
- | Model version | mAP | car (20,371) | truck (3,172) | bus (376) | bicycle (155) | pedestrian (2,794) | - | ----------------------------------- | ----- | ------------ | ------------- | --------- | ------------- | ------------------ | +
+ Eval Range: 90.0 - 121.0m + + | 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 | + | 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 | - Eval Range: 0.0 - 121.0m +
- | Model version | mAP | car (143,453) | truck (15,220) | bus (4,729) | bicycle (2,292) | pedestrian (32,498) | - | ----------------------------------- | ----- | ------------- | -------------- | ----------- | --------------- | ------------------- | +
+ Eval Range: 0.0 - 121.0m + + | 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 | + | 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 | +
## Datasets @@ -147,7 +175,8 @@ J6Gen2 ### CenterPoint J6Gen2_Base/2.6.1_quant -Changes +
+ Changes - Applied PTQ quantization to `J6Gen2_Base/2.6.1` to reduce inference latency while maintaining accuracy. - Key performance gains: @@ -159,7 +188,10 @@ Changes - Overall: - INT8 quantization effectively accelerates compute-heavy backbone inference while preserving detection accuracy. -Artifacts +
+ +
+ 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) @@ -172,9 +204,10 @@ Artifacts - [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 +
+ Evaluation **Base Datasets (5,179 frames)**: @@ -332,24 +365,26 @@ Evaluation | **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 -Changes +
+ Changes - Finetune from `CenterPoint base/2.6.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Train with new datatasets: - `db_j6gen2_v9` - - `db_largebus_v3` + - `db_largebus_v3` - Overall: - Performance is generally better than `CenterPoint base/2.5.0` and `CenterPoint J6Gen2/2.5.1`, especially in new locations +
-Artifacts +
+ Artifacts - Deployed onnx and ROS parameter files (for internal) - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/8551451c-f6c5-4eca-bc01-5895015e25bf?project_id=zWhWRzei) @@ -362,9 +397,10 @@ Artifacts - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.6.1/epoch_29.pth) - [Google drive](https://drive.google.com/file/d/1xUvDvyoSi67nuT_a_6Ke61B5etn6yc7W/view?usp=drive_link) +
- -Training configs +
+ Training configs - [Config file path](https://github.com/KSeangTan/AWML/blob/0913734976758079c3e2452fa3a866453a00710d/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_8xb16_121m_j6gen2_base_amp_rfs.py) - Train time: NVIDIA H100 80GB * 8 * 30 epochs = 20 hours @@ -373,62 +409,55 @@ Training configs - 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 (43,109 frames) - largebus: db_largebus_v1 + db_largebus_v2 + db_largebus_v3 (12,605 frames) +
- -Evaluation +
+ 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 + - 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): 0.8465** - -| 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 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | -| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | -| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | -| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | -| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | +| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | +| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | +| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | +| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6560** - -| 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 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | -| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | -| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | -| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | -| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | +| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | +| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | +| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | +| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4152** - -| 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 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | -| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | -| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | -| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | -| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | +| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | +| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | +| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | +| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7426** - -| 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 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | -| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | -| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | -| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | -| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | +| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | +| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | +| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | +| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | --- @@ -436,51 +465,43 @@ Evaluation **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8400** - -| 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 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | -| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | -| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | -| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | -| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 14,883 | 0.9589 | 0.9293 / 0.9673 / 0.9690 / 0.9698 | 0.9394 / 0.9632 / 0.9667 / 0.9675 | 0.3785 / 0.3785 / 0.3669 / 0.3669 | +| **truck** | 1,193 | 0.8414 | 0.7609 / 0.8503 / 0.8730 / 0.8815 | 0.8231 / 0.8755 / 0.8941 / 0.8941 | 0.4168 / 0.4018 / 0.4018 / 0.4018 | +| **bus** | 336 | 0.8803 | 0.7821 / 0.8873 / 0.9260 / 0.9260 | 0.8349 / 0.9127 / 0.9403 / 0.9403 | 0.5058 / 0.4651 / 0.4651 / 0.4651 | +| **bicycle** | 740 | 0.7693 | 0.7365 / 0.7618 / 0.7892 / 0.7895 | 0.8357 / 0.8487 / 0.8516 / 0.8516 | 0.4488 / 0.4488 / 0.4488 / 0.4488 | +| **pedestrian** | 5,059 | 0.7503 | 0.7295 / 0.7446 / 0.7540 / 0.7730 | 0.7984 / 0.8022 / 0.8042 / 0.8089 | 0.4707 / 0.4676 / 0.4304 / 0.4096 | **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.7084** - -| 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 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | -| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | -| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | -| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | -| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 10,994 | 0.8788 | 0.8079 / 0.8886 / 0.9053 / 0.9133 | 0.8410 / 0.8848 / 0.8971 / 0.8989 | 0.3960 / 0.3957 / 0.3358 / 0.3358 | +| **truck** | 1,011 | 0.6753 | 0.5558 / 0.6842 / 0.7251 / 0.7363 | 0.6715 / 0.7357 / 0.7633 / 0.7694 | 0.3596 / 0.3596 / 0.3481 / 0.3361 | +| **bus** | 143 | 0.8829 | 0.8238 / 0.8966 / 0.9020 / 0.9092 | 0.8339 / 0.8881 / 0.9085 / 0.9085 | 0.4181 / 0.4181 / 0.4181 / 0.4181 | +| **bicycle** | 463 | 0.4908 | 0.3946 / 0.5106 / 0.5261 / 0.5321 | 0.6178 / 0.6692 / 0.6776 / 0.6776 | 0.3415 / 0.3415 / 0.3040 / 0.3040 | +| **pedestrian** | 3,754 | 0.6144 | 0.5966 / 0.6089 / 0.6169 / 0.6351 | 0.7034 / 0.7084 / 0.7105 / 0.7184 | 0.3641 / 0.3641 / 0.3641 / 0.3641 | **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4939** - -| 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 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | -| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | -| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | -| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | -| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 3,018 | 0.6761 | 0.5922 / 0.6870 / 0.7080 / 0.7172 | 0.6886 / 0.7387 / 0.7563 / 0.7618 | 0.3999 / 0.3508 / 0.3508 / 0.3542 | +| **truck** | 602 | 0.5818 | 0.3836 / 0.6007 / 0.6603 / 0.6825 | 0.5388 / 0.6604 / 0.7240 / 0.7428 | 0.3785 / 0.3146 / 0.3592 / 0.3592 | +| **bus** | 60 | 0.4930 | 0.2325 / 0.5471 / 0.5961 / 0.5961 | 0.4719 / 0.6809 / 0.6990 / 0.6990 | 0.5795 / 0.5144 / 0.4290 / 0.4290 | +| **bicycle** | 85 | 0.2799 | 0.1738 / 0.2970 / 0.3243 / 0.3243 | 0.3976 / 0.4969 / 0.5217 / 0.5217 | 0.3084 / 0.3218 / 0.3218 / 0.3218 | +| **pedestrian** | 1,121 | 0.4386 | 0.4214 / 0.4334 / 0.4415 / 0.4582 | 0.5726 / 0.5777 / 0.5801 / 0.5850 | 0.3807 / 0.3807 / 0.3585 / 0.3585 | **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7601** - -| 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 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | -| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | -| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | -| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | -| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 28,895 | 0.9083 | 0.8584 / 0.9144 / 0.9267 / 0.9338 | 0.8799 / 0.9137 / 0.9213 / 0.9228 | 0.3978 / 0.3959 / 0.3704 / 0.3503 | +| **truck** | 2,806 | 0.7345 | 0.6158 / 0.7479 / 0.7814 / 0.7927 | 0.7125 / 0.7821 / 0.8140 / 0.8202 | 0.4175 / 0.3596 / 0.3623 / 0.3623 | +| **bus** | 539 | 0.8380 | 0.7329 / 0.8522 / 0.8805 / 0.8864 | 0.7980 / 0.8806 / 0.9074 / 0.9074 | 0.5177 / 0.4575 / 0.4575 / 0.4575 | +| **bicycle** | 1,288 | 0.6463 | 0.5898 / 0.6512 / 0.6718 / 0.6723 | 0.7313 / 0.7639 / 0.7727 / 0.7735 | 0.3618 / 0.3527 / 0.3415 / 0.3415 | +| **pedestrian** | 9,934 | 0.6736 | 0.6553 / 0.6681 / 0.6766 / 0.6946 | 0.7367 / 0.7418 / 0.7442 / 0.7503 | 0.3847 / 0.3847 / 0.3798 / 0.3798 | --- @@ -488,466 +509,455 @@ Evaluation **Total BEV Center Distance mAP (eval range = 0.0 - 50.0m): 0.8465** - -| 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 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | -| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | -| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | -| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | -| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 64,520 | 0.9473 | 0.9174 / 0.9555 / 0.9578 / 0.9586 | 0.9286 / 0.9532 / 0.9583 / 0.9591 | 0.4267 / 0.3893 / 0.3609 / 0.3609 | +| **truck** | 6,947 | 0.8193 | 0.7199 / 0.8304 / 0.8559 / 0.8712 | 0.7871 / 0.8403 / 0.8655 / 0.8781 | 0.4232 / 0.4023 / 0.3821 / 0.3683 | +| **bus** | 2,275 | 0.9196 | 0.8561 / 0.9290 / 0.9465 / 0.9469 | 0.8808 / 0.9291 / 0.9455 / 0.9460 | 0.5055 / 0.3693 / 0.3827 / 0.3827 | +| **bicycle** | 1,379 | 0.8016 | 0.7795 / 0.7977 / 0.8142 / 0.8151 | 0.8611 / 0.8704 / 0.8719 / 0.8719 | 0.4786 / 0.4786 / 0.4786 / 0.4786 | +| **pedestrian** | 19,421 | 0.7445 | 0.7203 / 0.7379 / 0.7492 / 0.7706 | 0.7840 / 0.7905 / 0.7942 / 0.7996 | 0.4337 / 0.4337 / 0.4280 / 0.4280 | **Total BEV Center Distance mAP (eval range = 50.0 - 90.0m): 0.6560** - -| 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 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | -| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | -| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | -| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | -| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 58,562 | 0.8103 | 0.7319 / 0.8183 / 0.8403 / 0.8506 | 0.7935 / 0.8422 / 0.8597 / 0.8639 | 0.4078 / 0.3597 / 0.3501 / 0.3456 | +| **truck** | 5,101 | 0.6117 | 0.4765 / 0.6147 / 0.6647 / 0.6909 | 0.6037 / 0.6882 / 0.7319 / 0.7501 | 0.3751 / 0.3479 / 0.3481 / 0.3481 | +| **bus** | 2,078 | 0.7508 | 0.6110 / 0.7572 / 0.8093 / 0.8256 | 0.6898 / 0.7781 / 0.8260 / 0.8346 | 0.4799 / 0.3950 / 0.3589 / 0.3584 | +| **bicycle** | 758 | 0.5245 | 0.4535 / 0.5404 / 0.5511 / 0.5531 | 0.6299 / 0.6741 / 0.6800 / 0.6800 | 0.3801 / 0.3415 / 0.3415 / 0.3415 | +| **pedestrian** | 10,283 | 0.5827 | 0.5576 / 0.5772 / 0.5897 / 0.6066 | 0.6566 / 0.6648 / 0.6684 / 0.6764 | 0.4178 / 0.4178 / 0.4032 / 0.3851 | **Total BEV Center Distance mAP (eval range = 90.0 - 121.0m): 0.4152** - -| 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 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | -| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | -| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | -| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | -| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | - +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 20,371 | 0.5837 | 0.4893 / 0.5868 / 0.6226 / 0.6361 | 0.6206 / 0.6785 / 0.7043 / 0.7118 | 0.3629 / 0.3372 / 0.3195 / 0.3195 | +| **truck** | 3,172 | 0.4235 | 0.2313 / 0.4091 / 0.5016 / 0.5520 | 0.4159 / 0.5372 / 0.6063 / 0.6504 | 0.3769 / 0.3211 / 0.3373 / 0.3374 | +| **bus** | 376 | 0.3537 | 0.1950 / 0.3539 / 0.4269 / 0.4391 | 0.3911 / 0.5120 / 0.5622 / 0.5758 | 0.4537 / 0.3145 / 0.3786 / 0.3786 | +| **bicycle** | 155 | 0.3432 | 0.2689 / 0.3480 / 0.3779 / 0.3779 | 0.4755 / 0.5358 / 0.5512 / 0.5512 | 0.4093 / 0.4093 / 0.4329 / 0.4329 | +| **pedestrian** | 2,794 | 0.3719 | 0.3590 / 0.3666 / 0.3759 / 0.3863 | 0.5188 / 0.5229 / 0.5275 / 0.5319 | 0.3749 / 0.3532 / 0.3749 / 0.3749 | **Total BEV Center Distance mAP (eval range = 0.0 - 121.0m): 0.7426** +| class_name | Count | mAP | AP@0.5/1.0/2.0/4.0 | max_f1@0.5/1.0/2.0/4.0 | Optimal_conf@0.5/1.0/2.0/4.0 | +| :--- | :--- | :--- | :--- | :--- | :--- | +| **car** | 143,453 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | +| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | +| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | +| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | +| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | -| 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 | 0.8533 | 0.7946 / 0.8592 / 0.8752 / 0.8841 | 0.8363 / 0.8747 / 0.8873 / 0.8901 | 0.4077 / 0.3705 / 0.3594 / 0.3501 | -| **truck** | 15,220 | 0.6800 | 0.5477 / 0.6838 / 0.7323 / 0.7560 | 0.6584 / 0.7332 / 0.7731 / 0.7945 | 0.4053 / 0.3748 / 0.3703 / 0.3472 | -| **bus** | 4,729 | 0.8144 | 0.7090 / 0.8247 / 0.8568 / 0.8671 | 0.7707 / 0.8377 / 0.8707 / 0.8750 | 0.4792 / 0.3950 / 0.3698 / 0.3698 | -| **bicycle** | 2,292 | 0.6907 | 0.6508 / 0.6931 / 0.7090 / 0.7099 | 0.7654 / 0.7876 / 0.7910 / 0.7910 | 0.4362 / 0.4362 / 0.4362 / 0.4362 | -| **pedestrian** | 32,498 | 0.6745 | 0.6521 / 0.6675 / 0.6804 / 0.6978 | 0.7223 / 0.7292 / 0.7330 / 0.7390 | 0.4165 / 0.4165 / 0.4165 / 0.4165 | - - - +
--- ### CenterPoint J6Gen2_Base/2.5.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.5.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Train with new datatasets: - `db_j6gen2_v6` - - `db_j6gen2_v7` - - `db_j6gen2_v8` + - `db_j6gen2_v7` + - `db_j6gen2_v8` - Around a total frames of `18,000` is added compared to `CenterPoint J6Gen2/2.4.1` - Overall: - Performance is generally better than `CenterPoint base/2.5.0` and `CenterPoint J6Gen2/2.4.1` - - However, the performance in `largebus` slightly degrades + - However, the performance in `largebus` slightly degrades +
- -Artifacts +
+ Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/5599b337-e151-4f11-abe3-480943d9edec?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1PLhgM8vAJCeI0TvOi7wsg4seWzfJTi7m/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/5599b337-e151-4f11-abe3-480943d9edec?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1PLhgM8vAJCeI0TvOi7wsg4seWzfJTi7m/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1Lw_k5QUs0Wx1W-7mY-KrwtjW-eBc17pv/view?usp=drive_link) - + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.5.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1Lw_k5QUs0Wx1W-7mY-KrwtjW-eBc17pv/view?usp=drive_link) +
-Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/dee55764f5381ef75dcac7a17a303b0bf527d400/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base_amp_rfs.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 1 day 3 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 48,108): - j6gen2: 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 (37,002 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (11,106 frames) + - largebus: db_largebus_v1 + db_largebus_v2 (11,106 frames) +
- -Evaluation +
+ Evaluation **LargeBus**: db_largebus_v1 + db_largebus_v2 (859 frames) **Total mAP (eval range = 120m): 0.765** - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | -| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | -| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | -| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | -| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | -------------| ---- | ---- | ---- | ---- | ---- | +| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | +| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | +| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | +| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | +| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | --- + **J6Gen2_V6**: db_j6gen2_v6 (636 frames) **Total mAP (eval range = 120m): 0.734** - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 23,898 | 85.5 | 79.3 | 85.6 | 88.3 | 88.6 | -| truck | 1,534 | 59.2 | 48.5 | 56.1 | 60.2 | 72.0 | -| bus | 957 | 74.0 | 66.6 | 74.3 | 77.4 | 77.6 | -| bicycle | 163 | 79.3 | 76.4 | 80.3 | 80.3 | 80.3 | -| pedestrian | 4,556 | 69.1 | 67.6 | 68.7 | 69.4 | 70.8 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | +| car | 23,898 | 85.5 | 79.3 | 85.6 | 88.3 | 88.6 | +| truck | 1,534 | 59.2 | 48.5 | 56.1 | 60.2 | 72.0 | +| bus | 957 | 74.0 | 66.6 | 74.3 | 77.4 | 77.6 | +| bicycle | 163 | 79.3 | 76.4 | 80.3 | 80.3 | 80.3 | +| pedestrian | 4,556 | 69.1 | 67.6 | 68.7 | 69.4 | 70.8 | --- + **J6Gen2:** db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 + db_j6gen2_v6 **Total mAP (eval range = 120m): 0.752** +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | +| car | 66,293 | 84.8 | 78.6 | 84.9 | 87.3 | 88.2 | +| truck | 4,417 | 56.2 | 46.1 | 54.5 | 57.9 | 66.5 | +| bus | 2,353 | 80.7 | 75.6 | 80.6 | 83.0 | 83.7 | +| bicycle | 500 | 84.7 | 83.3 | 85.1 | 85.1 | 85.5 | +| pedestrian | 11,417 | 69.7 | 67.8 | 69.3 | 70.1 | 71.4 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 66,293 | 84.8 | 78.6 | 84.9 | 87.3 | 88.2 | -| truck | 4,417 | 56.2 | 46.1 | 54.5 | 57.9 | 66.5 | -| bus | 2,353 | 80.7 | 75.6 | 80.6 | 83.0 | 83.7 | -| bicycle | 500 | 84.7 | 83.3 | 85.1 | 85.1 | 85.5 | -| pedestrian | 11,417 | 69.7 | 67.8 | 69.3 | 70.1 | 71.4 | - - - +
--- ### CenterPoint J6Gen2_Base/2.4.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.4.0` with j6gen2 base dataset - Include intensity as an extra feature and Repeat Sampling Factor (RFS) - Overall: - - Performance is better than `CenterPoint J6Gen2/2.3.1`, especially, `truck`, `bicycle` and `pedestrian`, where `bicycle` improves mAP more than `5.0` in `j6gen2_base` dataset - + - Performance is better than `CenterPoint J6Gen2/2.3.1`, especially, `truck`, `bicycle` and `pedestrian`, where `bicycle` improves mAP more than `5.0` in `j6gen2_base` dataset +
-Artifacts +
+ Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) - + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) +
-Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/c0ba7268f110062f71ee80a3469102867a63b740/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 1 day 3 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 30,290): - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (21,077 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) + - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) +
- -Evaluation +
+ Evaluation - db_largebus_v1 + db_largebus_v2 (859 frames): - Total mAP (eval range = 120m): 0.765 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | -| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | -| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | -| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | -| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | -------------| ---- | ---- | ---- | ---- | ---- | +| car | 16,604 | 90.8 | 85.9 | 91.4 | 92.8 | 93.1 | +| truck | 1,961 | 69.1 | 56.2 | 69.3 | 74.6 | 76.5 | +| bus | 171 | 77.9 | 63.0 | 82.8 | 82.9 | 82.9 | +| bicycle | 863 | 73.4 | 69.4 | 73.9 | 75.1 | 75.3 | +| pedestrian | 4,659 | 71.1 | 69.7 | 70.7 | 71.3 | 72.7 | --- - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (1,217 frames): - Total mAP (eval range = 120m): 0.767 +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | +| car | 40,225 | 83.5 | 77.5 | 83.6 | 85.9 | 86.9 | +| truck | 2,672 | 57.2 | 46.9 | 56.1 | 59.2 | 66.6 | +| bus | 1,388 | 86.1 | 81.3 | 85.2 | 88.6 | 89.3 | +| bicycle | 303 | 86.1 | 85.6 | 86.3 | 86.3 | 86.3 | +| pedestrian | 6,296 | 70.4 | 69.2 | 70.0 | 70.8 | 71.8 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 40,225 | 83.5 | 77.5 | 83.6 | 85.9 | 86.9 | -| truck | 2,672 | 57.2 | 46.9 | 56.1 | 59.2 | 66.6 | -| bus | 1,388 | 86.1 | 81.3 | 85.2 | 88.6 | 89.3 | -| bicycle | 303 | 86.1 | 85.6 | 86.3 | 86.3 | 86.3 | -| pedestrian | 6,296 | 70.4 | 69.2 | 70.0 | 70.8 | 71.8 | - - - +
--- ### CenterPoint J6Gen2_Base/2.3.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.3.0` with j6gen2 base dataset - Include intensity as an extra feature -- Overall: - - Performance is slightly better than `CenterPoint J6Gen2/2.2.1` +- Overall: + - Performance is slightly better than `CenterPoint J6Gen2/2.2.1` +
-Artifacts +
+ Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/cb7d790e-4efe-47c2-b2b4-62d9d80aa085?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1toIlwTYbjIkXVoRdG4e0WSUBwqRKQDNi/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.3.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i4uvbOHsbDuNn0CtF1Dkx4CTrrjCAICt/view?usp=drive_link) +
- -Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/c0ba7268f110062f71ee80a3469102867a63b740/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training Dataset (frames: 30,290): - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (21,077 frames) - - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) - + - largebus: db_largebus_v1 + db_largebus_v2 (9,213 frames) +
-Evaluation +
+ Evaluation - db_largebus_v1 + db_largebus_v2 (859 frames): - Total mAP (eval range = 120m): 0.748 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 16,604 | 91.2 | 86.0 | 92.0 | 93.2 | 93.5 | -| truck | 1,961 | 69.7 | 57.1 | 70.3 | 74.9 | 76.5 | -| bus | 171 | 75.4 | 59.6 | 80.7 | 80.7 | 80.7 | -| bicycle | 863 | 67.7 | 62.0 | 68.9 | 69.9 | 70.0 | -| pedestrian | 4,659 | 69.8 | 68.1 | 69.2 | 70.1 | 71.8 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | -------------| ---- | ---- | ---- | ---- | ---- | +| car | 16,604 | 91.2 | 86.0 | 92.0 | 93.2 | 93.5 | +| truck | 1,961 | 69.7 | 57.1 | 70.3 | 74.9 | 76.5 | +| bus | 171 | 75.4 | 59.6 | 80.7 | 80.7 | 80.7 | +| bicycle | 863 | 67.7 | 62.0 | 68.9 | 69.9 | 70.0 | +| pedestrian | 4,659 | 69.8 | 68.1 | 69.2 | 70.1 | 71.8 | --- - j6gen2: db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v3 + db_j6gen2_v4 + db_j6gen2_v5 (1,217 frames): - Total mAP (eval range = 120m): 0.743 +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ---------- | ---- | ---- | ---- | ---- | ---- | +| car | 40,225 | 84.5 | 78.4 | 84.9 | 87.2 | 87.5 | +| truck | 2,672 | 52.6 | 42.1 | 50.8 | 55.1 | 62.5 | +| bus | 1,388 | 85.7 | 81.9 | 84.2 | 88.0 | 88.7 | +| bicycle | 303 | 81.6 | 79.9 | 81.8 | 82.3 | 82.3 | +| pedestrian | 6,296 | 67.2 | 65.3 | 66.4 | 67.6 | 69.3 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 40,225 | 84.5 | 78.4 | 84.9 | 87.2 | 87.5 | -| truck | 2,672 | 52.6 | 42.1 | 50.8 | 55.1 | 62.5 | -| bus | 1,388 | 85.7 | 81.9 | 84.2 | 88.0 | 88.7 | -| bicycle | 303 | 81.6 | 79.9 | 81.8 | 82.3 | 82.3 | -| pedestrian | 6,296 | 67.2 | 65.3 | 66.4 | 67.6 | 69.3 | - - - +
--- ### CenterPoint J6Gen2_Base/2.2.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.2.0` with j6gen2 base dataset - Include intensity as an extra feature + - Overall: - Performance is slightly better than `CenterPoint J6Gen2/2.1.1` +
- -Artifacts +
+ Artifacts - Deployed onnx and ROS parameter files (for internal) - - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/115b1a13-84be-4dde-a9d2-8293e2be36ba?project_id=zWhWRzei) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/deployment.zip) - - [Google drive](https://drive.google.com/file/d/1AXlkBB1aG7h0kzk5NeU2OIPlRZS2YfwQ/view?usp=drive_link) + - [WebAuto](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/115b1a13-84be-4dde-a9d2-8293e2be36ba?project_id=zWhWRzei) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/deployment.zip) + - [Google drive](https://drive.google.com/file/d/1AXlkBB1aG7h0kzk5NeU2OIPlRZS2YfwQ/view?usp=drive_link) - Logs (for internal) - - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/logs.zip) - - [Google drive](https://drive.google.com/file/d/1i09BfY6LcVjSb4pYHL7IVIRP4Eus2Joo/view?usp=drive_link) + - [model-zoo](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.2.1/logs.zip) + - [Google drive](https://drive.google.com/file/d/1i09BfY6LcVjSb4pYHL7IVIRP4Eus2Joo/view?usp=drive_link) +
- -Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/81314d29d4efa560952324c48ef7c0ea1e56f1ee/projects/CenterPoint/configs/t4dataset/Centerpoint/second_secfpn_4xb16_121m_j6gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) +
- -Evaluation +
+ Evaluation - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7467 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | -| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | -| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | -| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | -| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ------- | ---- | ---- | ---- | ---- | ---- | +| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | +| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | +| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | +| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | +| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | --- - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v2 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7524 +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ------ | ---- | ---- | ---- | ---- | ---- | +| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | +| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | +| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | +| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | +| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | -| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | -| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | -| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | -| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | - - - +
--- ### CenterPoint J6Gen2_Base/2.1.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.1.0` - Include intensity as an extra feature - Overall: - - Similar performance compared to `CenterPoint J6Gen2/2.0.1` - + - Similar performance compared to `CenterPoint J6Gen2/2.0.1` +
-Artifacts +
+ Artifacts - Deployed onnx model and ROS parameter files [[WebAuto (for internal)]](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/ae4e48e2-d9ed-4db0-8ee9-daf1f566e8f1?project_id=zWhWRzei) - Deployed onnx and ROS parameter files [[model-zoo]] - - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/detection_class_remapper.param.yaml) - - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/centerpoint_ml_package.param.yaml) - - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) - - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_voxel_encoder_centerpoint.onnx) - - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_backbone_neck_head_centerpoint.onnx) + - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/detection_class_remapper.param.yaml) + - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/centerpoint_ml_package.param.yaml) + - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) + - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_voxel_encoder_centerpoint.onnx) + - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/pts_backbone_neck_head_centerpoint.onnx) - Training results [[Google drive (for internal)]](https://drive.google.com/drive/u/0/folders/1Kie3hE91QgjemJlv0WlK_WHO37q47Mi1) - Training results [model-zoo] - - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/logs.zip) - - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) - - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/second_secfpn_4xb16_121m_j6gen2.py) + - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/logs.zip) + - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) + - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.1.1/second_secfpn_4xb16_121m_j6gen2.py) +
- -Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/69aba0d001fd26282880a7a3e7622b89115042de/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) +
- -Evaluation +
+ Evaluation - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v4 + + db_largebus_v1 (total frames: 1,761): - Total mAP (eval range = 120m): 0.7410 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 57,839 | 85.8 | 79.7 | 86.2 | 88.5 | 88.8 | -| truck | 4,608 | 61.7 | 49.6 | 62.2 | 65.1 | 70.0 | -| bus | 1,559 | 84.9 | 80.4 | 84.3 | 87.5 | 87.5 | -| bicycle | 1,057 | 70.6 | 67.3 | 71.0 | 72.1 | 72.1 | -| pedestrian | 10,375 | 67.2 | 65.6 | 66.7 | 67.5 | 69.1 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| -----------| ------- | ------ | ------- | ------- | ------- | ------- | +| car | 57,839 | 85.8 | 79.7 | 86.2 | 88.5 | 88.8 | +| truck | 4,608 | 61.7 | 49.6 | 62.2 | 65.1 | 70.0 | +| bus | 1,559 | 84.9 | 80.4 | 84.3 | 87.5 | 87.5 | +| bicycle | 1,057 | 70.6 | 67.3 | 71.0 | 72.1 | 72.1 | +| pedestrian | 10,375 | 67.2 | 65.6 | 66.7 | 67.5 | 69.1 | --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.75 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 13,831 | 90.4 | 85.1 | 91.2 | 92.4 | 92.6 | -| truck | 2,137 | 70.4 | 55.9 | 72.1 | 75.3 | 78.5 | -| bus | 95 | 79.6 | 76.1 | 80.6 | 80.9 | 80.9 | -| bicycle | 724 | 67.5 | 63.1 | 67.9 | 69.1 | 69.9 | -| pedestrian | 3,916 | 67.0 | 65.2 | 66.6 | 67.3 | 68.9 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| -----------| ------- | ----- | ------- | ------- | ------- | ------- | +| car | 13,831 | 90.4 | 85.1 | 91.2 | 92.4 | 92.6 | +| truck | 2,137 | 70.4 | 55.9 | 72.1 | 75.3 | 78.5 | +| bus | 95 | 79.6 | 76.1 | 80.6 | 80.9 | 80.9 | +| bicycle | 724 | 67.5 | 63.1 | 67.9 | 69.1 | 69.9 | +| pedestrian | 3,916 | 67.0 | 65.2 | 66.6 | 67.3 | 68.9 | --- - db_j6gen2_v1 + db_j6gen2_v2 +db_j6gen2_v4 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7460 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 44,008 | 84.7 | 78.2 | 84.8 | 87.2 | 88.3 | -| truck | 2,471 | 54.7 | 44.5 | 54.4 | 56.8 | 62.9 | -| bus | 1,464 | 85.5 | 80.8 | 84.6 | 87.9 | 88.6 | -| bicycle | 333 | 79.1 | 78.2 | 79.4 | 79.4 | 79.4 | -| pedestrian | 6,459 | 67.4 | 65.7 | 66.7 | 67.7 | 69.4 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---------- | ------ | ---- | ------- | ------- | ------- | ------- | +| car | 44,008 | 84.7 | 78.2 | 84.8 | 87.2 | 88.3 | +| truck | 2,471 | 54.7 | 44.5 | 54.4 | 56.8 | 62.9 | +| bus | 1,464 | 85.5 | 80.8 | 84.6 | 87.9 | 88.6 | +| bicycle | 333 | 79.1 | 78.2 | 79.4 | 79.4 | 79.4 | +| pedestrian | 6,459 | 67.4 | 65.7 | 66.7 | 67.7 | 69.4 | --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7467 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | -| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | -| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | -| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | -| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ------- | ---- | ---- | ---- | ---- | ---- | +| car | 13,831 | 90.2 | 85.1 | 91.1 | 92.3 | 92.5 | +| truck | 2,137 | 70.6 | 55.1 | 72.7 | 76.1 | 78.4 | +| bus | 95 | 78.2 | 74.0 | 78.1 | 80.3 | 80.3 | +| bicycle | 724 | 66.5 | 59.3 | 68.1 | 69.4 | 69.4 | +| pedestrian | 3,916 | 67.8 | 66.1 | 67.3 | 68.2 | 69.6 | --- - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v2 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7524 +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---- | ------ | ---- | ---- | ---- | ---- | ---- | +| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | +| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | +| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | +| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | +| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ---- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 44,008 | 84.7 | 78.4 | 85.0 | 87.3 | 88.3 | -| truck | 2,471 | 57.4 | 46.6 | 57.6 | 60.0 | 65.4 | -| bus | 1,464 | 85.5 | 81.8 | 84.5 | 87.8 | 87.9 | -| bicycle | 333 | 80.7 | 80.4 | 80.8 | 80.8 | 80.8 | -| pedestrian | 6,459 | 67.8 | 66.4 | 67.1 | 68.0 | 69.7 | - - - +
--- ### CenterPoint J6Gen2_Base/2.0.1 -Changes +
+ Changes - Finetune from `CenterPoint base/2.0.0` - Include intensity as an extra feature @@ -959,79 +969,76 @@ Changes - Bicycle detection slightly drops in 2.0.1 but by a negligible margin (`−0.21 AP`). - `J6Gen2/2.0.1` is a clear upgrade over `J6Gen2/1.7.1` in terms of detection accuracy, especially for trucks and pedestrians, with only a very minor tradeoff in bicycle detection +
- -Artifacts +
+ Artifacts - Deployed onnx model and ROS parameter files [[WebAuto (for internal)]](https://evaluation.tier4.jp/evaluation/mlpackages/7156b453-2861-4ae9-b135-e24e48cc9029/releases/2ea64514-ad8b-4943-830f-5bd570988828?project_id=zWhWRzei) - Deployed onnx and ROS parameter files [[model-zoo]] - - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/detection_class_remapper.param.yaml) - - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/centerpoint_ml_package.param.yaml) - - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) - - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_voxel_encoder.onnx) - - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_backbone_neck_head.onnx) + - [detection_class_remapper.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/detection_class_remapper.param.yaml) + - [centerpoint_ml_package.param.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/centerpoint_ml_package.param.yaml) + - [deploy_metadata.yaml](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/deploy_metadata.yaml) + - [pts_voxel_encoder_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_voxel_encoder.onnx) + - [pts_backbone_neck_head_centerpoint.onnx](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/pts_backbone_neck_head.onnx) - Training results [[Google drive (for internal)]](https://drive.google.com/drive/folders/1x2LUu1hyoeroOdRtTxAPQsKLXDi2TuAc?usp=drive_link) - Training results [model-zoo] - - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/logs.zip) - - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) - - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/second_secfpn_4xb16_121m_j6gen2.py) - + - [logs.zip](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/logs.zip) + - [checkpoint_best.pth](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/best_NuScenes_metric_T4Metric_mAP_epoch_28.pth) + - [config.py](https://download.autoware-ml-model-zoo.tier4.jp/autoware-ml/models/centerpoint/centerpoint/j6gen2/v2.0.1/second_secfpn_4xb16_121m_j6gen2.py) +
-Training configs +
+ Training configs - [Config file path](https://github.com/tier4/AWML/blob/b1f498a6802f68c36a1d02b9780f72e25a413ee3/autoware_ml/configs/detection3d/dataset/t4dataset/gen2_base.py) - Train time: NVIDIA H100 80GB * 4 * 30 epochs = 12 hours - Batch size: 4*16 = 64 - Training dataset: DB J6 Gen2 v1.0 + DB J6 Gen2 v2.0 + DB J6 Gen2 V4.0 + DB LargeBus v1.0 (total frames: 20,777) +
- -Evaluation +
+ Evaluation - db_j6gen2_v1 + db_j6gen2_v2 + db_j6gen2_v4 + + db_largebus_v1 (total frames: 1,761): - Total mAP (eval range = 120m): 0.7401 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 57,839 | 85.97 | 80.0 | 86.3 | 88.6 | 88.9 | -| truck | 4,608 | 62.57 | 49.2 | 63.2 | 66.8 | 71.1 | -| bus | 1,559 | 83.36 | 78.6 | 82.1 | 86.0 | 86.7 | -| bicycle | 1,057 | 71.05 | 65.6 | 72.2 | 73.2 | 73.2 | -| pedestrian | 10,375 | 67.10 | 65.2 | 66.3 | 67.6 | 69.4 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| -----------| ------- | ------ | ------- | ------- | ------- | ------- | +| car | 57,839 | 85.97 | 80.0 | 86.3 | 88.6 | 88.9 | +| truck | 4,608 | 62.57 | 49.2 | 63.2 | 66.8 | 71.1 | +| bus | 1,559 | 83.36 | 78.6 | 82.1 | 86.0 | 86.7 | +| bicycle | 1,057 | 71.05 | 65.6 | 72.2 | 73.2 | 73.2 | +| pedestrian | 10,375 | 67.10 | 65.2 | 66.3 | 67.6 | 69.4 | --- - db_largebus_v1 (total frames: 604): - Total mAP (eval range = 120m): 0.7473 - -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 13,831 | 90.53 | 85.4 | 91.3 | 92.6 | 92.8 | -| truck | 2,137 | 69.55 | 54.1 | 71.0 | 75.4 | 77.6 | -| bus | 95 | 80.06 | 76.5 | 80.4 | 81.7 | 81.7 | -| bicycle | 724 | 65.72 | 58.8 | 66.7 | 68.7 | 68.7 | -| pedestrian | 3,916 | 67.82 | 66.1 | 67.3 | 68.0 | 69.9 | - +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| -----------| ------- | ----- | ------- | ------- | ------- | ------- | +| car | 13,831 | 90.53 | 85.4 | 91.3 | 92.6 | 92.8 | +| truck | 2,137 | 69.55 | 54.1 | 71.0 | 75.4 | 77.6 | +| bus | 95 | 80.06 | 76.5 | 80.4 | 81.7 | 81.7 | +| bicycle | 724 | 65.72 | 58.8 | 66.7 | 68.7 | 68.7 | +| pedestrian | 3,916 | 67.82 | 66.1 | 67.3 | 68.0 | 69.9 | --- - db_j6gen2_v1 + db_j6gen2_v2 +db_j6gen2_v4 (total frames: 1,157): - Total mAP (eval range = 120m): 0.7460 +| class_name | Count | mAP | AP@0.5m | AP@1.0m | AP@2.0m | AP@4.0m | +| ---------- | ------ | ---- | ------- | ------- | ------- | ------- | +| car | 44,008 | 84.83 | 78.6 | 84.9 | 87.4 | 88.4 | +| truck | 2,471 | 56.48 | 44.7 | 56.5 | 59.1 | 65.7 | +| bus | 1,464 | 83.70 | 78.7 | 82.2 | 87.0 | 87.0 | +| bicycle | 333 | 81.06 | 79.3 | 81.3 | 81.8 | 81.8 | +| pedestrian | 6,459 | 66.91 | 65.1 | 66.0 | 67.5 | 69.1 | -| class_name | Count | mAP | [AP@0.5m](mailto:AP@0.5m) | [AP@1.0m](mailto:AP@1.0m) | [AP@2.0m](mailto:AP@2.0m) | [AP@4.0m](mailto:AP@4.0m) | -| ---------- | ------ | ----- | ------------------------- | ------------------------- | ------------------------- | ------------------------- | -| car | 44,008 | 84.83 | 78.6 | 84.9 | 87.4 | 88.4 | -| truck | 2,471 | 56.48 | 44.7 | 56.5 | 59.1 | 65.7 | -| bus | 1,464 | 83.70 | 78.7 | 82.2 | 87.0 | 87.0 | -| bicycle | 333 | 81.06 | 79.3 | 81.3 | 81.8 | 81.8 | -| pedestrian | 6,459 | 66.91 | 65.1 | 66.0 | 67.5 | 69.1 | - - - +
--- From ec3bb59cd3f954f2d69ff126ef69b2d8ae775701 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 21 May 2026 18:34:16 +0900 Subject: [PATCH 5/7] chore: fix more layout Signed-off-by: vividf --- .../docs/CenterPoint/v2/j6gen2_base.md | 136 +++++++++++------- 1 file changed, 82 insertions(+), 54 deletions(-) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index d60e22368..fe51c36f5 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -40,7 +40,7 @@ | 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_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 | @@ -51,7 +51,7 @@ | 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_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 | @@ -62,7 +62,7 @@ | 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_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 | @@ -73,7 +73,7 @@ | 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_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 | @@ -81,49 +81,64 @@ ## Datasets -LargeBus +
+ LargeBus - Datasets (1,228 Testing Frames): - `db_largebus_v1` - `db_largebus_v2` - `db_largebus_v3` + - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** - Eval Range: 0.0 - 50.0m - | 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 | +
+ Eval Range: 0.0 - 50.0m + + | 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 | + +
+ +
+ Eval Range: 50.0 - 90.0m - Eval Range: 50.0 - 90.0m + | 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 | - | 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 | +
- Eval Range: 90.0 - 121.0m +
+ Eval Range: 90.0 - 121.0m - | 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 | + | 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 | - Eval Range: 0.0 - 121.0m +
- | 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 | +
+ Eval Range: 0.0 - 121.0m + | 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 | +
+
-J6Gen2 +
+ J6Gen2 - Datasets (3,951 Testing Frames): - `db_j6gen2_v1` @@ -135,41 +150,54 @@ J6Gen2 - `db_j6gen2_v7` - `db_j6gen2_v8` - `db_j6gen2_v9` + - **Class mAP for BEV Center Distance: 0.5m, 1.0m, 2.0m, 4.0m** - Eval Range: 0.0 - 50.0m - | 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 | +
+ Eval Range: 0.0 - 50.0m + + | 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 | + +
+ +
+ Eval Range: 50.0 - 90.0m - Eval Range: 50.0 - 90.0m + | 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 | - | 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 | +
- Eval Range: 90.0 - 121.0m +
+ Eval Range: 90.0 - 121.0m - | 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 | + | 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 | - Eval Range: 0.0 - 121.0m +
- | 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 | +
+ Eval Range: 0.0 - 121.0m + | 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 | +
+
## Release From 62a95cfc544579fe1364f7d42bb847dde1049d90 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 21 May 2026 19:13:35 +0900 Subject: [PATCH 6/7] chore: add description for tensorrt Signed-off-by: vividf --- projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md index fe51c36f5..0ff6bcf1a 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -8,6 +8,10 @@ - **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** From ea15f3088a337c1f886911abd3a4b08326c3a96b Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 27 May 2026 13:44:23 +0900 Subject: [PATCH 7/7] chore: add more explaination Signed-off-by: vividf --- projects/CenterPoint/docs/CenterPoint/v2/base.md | 4 ++-- projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md | 4 +++- projects/CenterPoint/docs/CenterPoint/v2/jpntaxi_base.md | 4 ++-- 3 files changed, 7 insertions(+), 5 deletions(-) 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 0ff6bcf1a..b1ebd35f4 100644 --- a/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md +++ b/projects/CenterPoint/docs/CenterPoint/v2/j6gen2_base.md @@ -3,7 +3,7 @@ ### Main Parameters - - **Range:** 122.40m + - **Range (x,y):** [-122.40, 122.40] m - **Voxel Size:** [0.24, 0.24, 8.0] - **Grid Size:** [1020, 1020, 1] - **With Intensity** @@ -211,6 +211,8 @@ 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`. 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