<![CDATA[
<div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%;" border="1"><tbody><tr><td style="width: 50%;"><b>실험환경</b><br><br><b>Ubuntu 20.04</b><br><b>CARLA 0.9.10.1</b></td></tr></tbody></table></div><p> </p><p><b><span data-ke-size="size18">Transformer의 Longest6로 루트 바꿔서 비교</span></b></p><p><a href="https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6" target="_blank" class="ke-link">https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="transfuser/leaderboard/data/longest6 at 2022 · autonomousvision/transfuser" data-og-description="[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving - autonomousvision/tr..." data-og-host="github.com" data-og-source-url="https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6" data-og-url="https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6" data-og-image="https://scrap.kakaocdn.net/dn/bdYwa0/dJMb8QeqHt8/y4Mnz2a16NoLrlsCumVIMk/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/QZNxh/dJMb8QMgz0z/Hy5MpWamtjT0eHlqKxfNM0/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/D4xfn/dJMb83kxvzJ/SD0Wqi70wmzJrjGnK5s0u0/img.png?width=997&height=997&face=0_0_997_997"><a href="https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6" target="_blank" data-source-url="https://github.com/autonomousvision/transfuser/tree/2022/leaderboard/data/longest6"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/bdYwa0/dJMb8QeqHt8/y4Mnz2a16NoLrlsCumVIMk/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/QZNxh/dJMb8QMgz0z/Hy5MpWamtjT0eHlqKxfNM0/img.png?width=1200&height=600&face=0_0_1200_600,https://scrap.kakaocdn.net/dn/D4xfn/dJMb83kxvzJ/SD0Wqi70wmzJrjGnK5s0u0/img.png?width=997&height=997&face=0_0_997_997" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">transfuser/leaderboard/data/longest6 at 2022 · autonomousvision/transfuser</p><p class="og-desc">[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving - autonomousvision/tr...</p><p class="og-host">github.com</p></div></a></div><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 36.508%; height: 36px;" border="1"><tbody><tr style="height: 18px;"><td style="width: 14.604%; height: 18px;">루트</td><td style="width: 21.9059%; height: 18px;">longest6.xml</td></tr><tr style="height: 18px;"><td style="width: 14.604%; height: 18px;">시나리오</td><td style="width: 21.9059%; height: 18px;">eval‎_scenarios.json</td></tr></tbody></table></div><p> </p><p>InterFuser/leaderboard/data 밑에 longest6 폴더 생성하고 longest6 폴더 밑에 longest6.xml 파일 위치하게 함</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/dd330e1f0bc044f3b1c70e0c97f0964dba3fc514" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/dd330e1f0bc044f3b1c70e0c97f0964dba3fc514" data-origin-width="302" data-origin-height="156"></div><p>InterFuser/leaderboard/data/scenarios 밑에 eval‎_scenarios.json 파일 위치하게 함</p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/73e8f5c74e9112e1072053c78a94bb81ed5ef34c" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/73e8f5c74e9112e1072053c78a94bb81ed5ef34c" data-origin-width="307" data-origin-height="245"></div><p> </p><p>추가한 경로에 맡게 스크립트 수정(InterFuser/leaderboard/scripts/run_eval‎uation)</p><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%; height: 64px;" border="1"><tbody><tr style="height: 64px;"><td style="width: 100%; height: 64px;"><span style="color: #4b69c6;">export</span> <span style="color: #7a3e9d;">ORIGINAL_ROUTES</span><span style="color: #777777;">=</span><span style="color: #7a3e9d;">leaderboard</span>/<span style="color: #7a3e9d;">data</span>/<span style="color: #7a3e9d;">longest6</span>/<span style="color: #7a3e9d;">longest6</span>.<span style="color: #7a3e9d;">xml</span><br><span style="color: #4b69c6;">export</span> <span style="color: #7a3e9d;">SCENARIOS</span><span style="color: #777777;">=</span><span style="color: #7a3e9d;">leaderboard</span>/<span style="color: #7a3e9d;">data</span>/<span style="color: #7a3e9d;">scenarios</span>/<span style="color: #7a3e9d;">eval‎_scenarios</span>.<span style="color: #7a3e9d;">json</span></td></tr></tbody></table></div><p> </p><p><b><span data-ke-size="size20">BEV 센서 추가</span></b></p><p><span data-ke-size="size16">InterFuser에서는 추론할 때 디버깅 모드를 저장해줌</span></p><div class="figure-img" data-ke-type="image" data-ke-style="alignCenter" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/ca9e54faa9e4004b1166cd7b5bea6beca365e648" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/ca9e54faa9e4004b1166cd7b5bea6beca365e648" data-origin-width="1203" data-origin-height="635"></div><p>추론 후 BEV 모습도 확인하기 위해 추론 코드에 BEV 센서를 추가해줌</p><p> </p><p><b><span data-ke-size="size18"><interfuser_agent.py> 수정</span></b></p><p><span data-ke-size="size16"><a href="https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c?source=copy_link" target="_blank" class="ke-link">https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c?source=copy_link</a></span></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="InterFuser Inference(BEV 카메라 추가) | Notion" data-og-description="<interfuser_agent.py 수정>" data-og-host="stingy-restaurant-40e.notion.site" data-og-source-url="https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c?source=copy_link" data-og-url="https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c" data-og-image="https://scrap.kakaocdn.net/dn/eiv1WY/dJMb88e5eXS/baXxtt6v2h4Vwt2Pqugff1/img.png?width=411&height=128&face=0_0_411_128,https://scrap.kakaocdn.net/dn/dcC1QN/dJMb82eRyTV/0c47kpwKVRp3kvMgrXDOQ1/img.png?width=411&height=128&face=0_0_411_128"><a href="https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c?source=copy_link" target="_blank" data-source-url="https://stingy-restaurant-40e.notion.site/InterFuser-Inference-BEV-35d2480fddb18040ac1fff56da752d3c?source=copy_link"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/eiv1WY/dJMb88e5eXS/baXxtt6v2h4Vwt2Pqugff1/img.png?width=411&height=128&face=0_0_411_128,https://scrap.kakaocdn.net/dn/dcC1QN/dJMb82eRyTV/0c47kpwKVRp3kvMgrXDOQ1/img.png?width=411&height=128&face=0_0_411_128" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">InterFuser Inference(BEV 카메라 추가) | Notion</p><p class="og-desc"><interfuser_agent.py 수정></p><p class="og-host">stingy-restaurant-40e.notion.site</p></div></a></div><p> </p><p><b><span data-ke-size="size20">센서측정주기</span></b></p><div class="table-wrap"><table data-ke-type="table" data-ke-align="alignLeft" style="width: 100%; height: 36px;" border="1"><tbody><tr style="height: 18px;"><td style="width: 20%; height: 18px;"><b>camera</b></td><td style="width: 20%; height: 18px;"><b>LiDAR</b></td><td style="width: 20%; height: 18px;"><b>GPU</b></td><td style="width: 20%; height: 18px;"><b>IMU</b></td><td style="width: 20%; height: 18px;"><b>속도계</b></td></tr><tr style="height: 18px;"><td style="width: 20%; height: 18px;">20Hz</td><td style="width: 20%; height: 18px;">20Hz</td><td style="width: 20%; height: 18px;">100Hz</td><td style="width: 20%; height: 18px;">20Hz</td><td style="width: 20%; height: 18px;">20Hz</td></tr></tbody></table></div><p> </p><p>센서 측정 주기는 센서마다 각각 다르지만 모델 inference에 들어가는 업데이트 주기는 skip_frames으로 조절한다.</p><p>-> 현재 코드는 skip_frames이 1로 매 tick마다 추론한다</p><p>다만, LiDAR는 짝수 tick에만 업데이트되기로 되어있어 추론 주기는 10Hz이다.</p><div class="figure-img" data-ke-type="image" data-ke-style="alignLeft" data-ke-mobilestyle="widthOrigin"><img src="https://t1.daumcdn.net/cafeattach/1RgNt/34e7e87965a9590e74d525dbbbcec8591360a4c8" class="txc-image" data-img-src="https://t1.daumcdn.net/cafeattach/1RgNt/34e7e87965a9590e74d525dbbbcec8591360a4c8" data-origin-width="350" data-origin-height="88"></div><p> </p><p> </p><p> </p><p><a href="https://www.notion.so/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327" target="_blank" class="ke-link">https://www.notion.so/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327</a></p><div class="figure-open" contenteditable="false" data-ke-type="opengraph" data-ke-align="alignCenter" data-og-type="website" data-og-title="InterFuser, TransFuser, TCP | Notion" data-og-description="Hosted by Notion Sites — The easiest way to get a website up and running." data-og-host="kind-slip-86b.notion.site" data-og-source-url="https://www.notion.so/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327" data-og-url="https://kind-slip-86b.notion.site/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327" data-og-image="https://scrap.kakaocdn.net/dn/jGPV8/dJMb9jgB6pa/OVmIUt0D9Uymze0DKcdxfk/img.png?width=1200&height=630&face=0_0_1200_630,https://scrap.kakaocdn.net/dn/OKylN/dJMb9llbVDA/4K5D671cBUJkk4ICDl0amK/img.png?width=1200&height=630&face=0_0_1200_630"><a href="https://www.notion.so/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327" target="_blank" data-source-url="https://www.notion.so/InterFuser-TransFuser-TCP-3558a2c2bfdb802da6d1e4ae1c79c327"><div class="og-image"><img class="thumb_img" src="https://scrap.kakaocdn.net/dn/jGPV8/dJMb9jgB6pa/OVmIUt0D9Uymze0DKcdxfk/img.png?width=1200&height=630&face=0_0_1200_630,https://scrap.kakaocdn.net/dn/OKylN/dJMb9llbVDA/4K5D671cBUJkk4ICDl0amK/img.png?width=1200&height=630&face=0_0_1200_630" alt="" xxxxonerror="this.src="//img1.kakaocdn.net/thumb/C200x200/?fname=https%3A%2F%2Ft1.daumcdn.net%2Fcafe_image%2Fcafe_meta_image_190529.png""></div><div class="og-text"><p class="og-title">InterFuser, TransFuser, TCP | Notion</p><p class="og-desc">Hosted by Notion Sites — The easiest way to get a website up and running.</p><p class="og-host">kind-slip-86b.notion.site</p></div></a></div><p> </p>
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[E2EAD] InterFuser Longest6 Inference
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26.05.13 14:17
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