An experiment on BEVdet in the paper

[lilkeker]

I noticed the experiment about replacing the image view transform depth with point cloud in the introduction in the paper. I wonder if this part is similar to the depth supervision part in BEVdepth (only depth supervision for keyframes)? Do you only replace the depth of keyframes, or replace all frames (including non-keyframes and keyframes) with the depth GT of the point cloud? There should be a synchronization problem of point cloud and image in this process?

BEVDepth/exps/bev_depth_lss_r50_256x704_128x128_24e.py

Line 251 in 16d7854

# only key-frame will calculate depth loss

[yinchimaoliang]

In this experiment, we use single frame schema, so there is only one frame that we used