-
Notifications
You must be signed in to change notification settings - Fork 640
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Investigate lidar_apollo_segmentation_tvm
detection quality
#1988
Comments
#1880 has to be merge first. |
According to @yukkysaito san, the weights have been update. |
Converting to |
@angry-crab I don't think the Autoware pipeline for tvm only supports onnx, and other formats could be used. It is really down to what TVM supports. If caffe support is dropped in TVM, then I agree that it can't be used as is and needs to be converted. |
To convert |
I couldn't convert the current caffemodel files with the microsoft tool, it complains about the "Slice" layer. |
I got it work using the converted model. It looks good. |
Checklist
Description
I have tested the TVM package replacing the TRT package in the rosbag demo as part of the PR: #1181 (comment). And the quality of the detection wasn't as good as the detection from the TRT package, at least visually. Some cars were not detected, the lines and circles which indicate the velocity (or planned trajectory, I'm not sure) were wrong, at least on parked vehicles. And the type of detected vehicles might be wrong, it would need to be checked.
Purpose
Get the detection quality of the TVM package on par with the TRT package.
Possible approaches
There are multiple possible causes for the difference:
Definition of done
lidar_apollo_segmentation_tvm*
packages and/or the neural network in use, depending on what is necessaryThe text was updated successfully, but these errors were encountered: