Question concerning temporal fusion

[LaCandela]

I understand that Fast-BEV uses 4 consecutive frames to improve performance. Do you correct the BEV features of the past frames before temporal fusion (concatenation)? I would naively think that some correction might be necessary to compensate for the ego-car motion between frames. Could you please guide me where this correction happens in the code?
Is it applied for every model or just for the larger ones?

[goodpeter-sun]

I don't think so since the data preparation doesn't involve can_bus info. Correct me if I am wrong, I am looking for the same point as well.

[loserhou]

我不要这么认为，因为数据准备不涉及can_bus信息。如果我错了，请纠正我，我也在寻找同样的观点。

Do you understand now？I don't think it's aligned, it's just concat

[goodpeter-sun]

I understand now. Sent from Gmail Mobile

…

On Mon, Mar 11, 2024 at 2:32 PM loserhou ***@***.***> wrote: 我不要这么认为，因为数据准备不涉及can_bus信息。如果我错了，请纠正我，我也在寻找同样的观点。 Do you understand now？I don't think it's aligned, it's just concat — Reply to this email directly, view it on GitHub <#72 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AZQ6MVANMEDEKM7EMUDOUUTYXVFZHAVCNFSM6AAAAAA64XKEMGVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSOBXG4YTONZTHE> . You are receiving this because you commented.Message ID: ***@***.***>