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The difference with BEVFormer #2

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tangtaogo opened this issue Jun 20, 2022 · 1 comment
Open

The difference with BEVFormer #2

tangtaogo opened this issue Jun 20, 2022 · 1 comment

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@tangtaogo
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Hi,
Thanks for your open source work!
But I have some doubts about the main differences between GKT and BEVFormer, except for the different selection of regions around the prior positions.
@outsidercsy
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Sorry for the late reply.
GKT's kernel region is with fixed integer pixel coordinate and can be pre-computed.
BEVFormer predicts offsets to sample points, similar to deformable-DETR. It's sampling positions are floating-point and dynamic.

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@outsidercsy @tangtaogo