FastBEV++

FastBEV++: Fast by Algorithm, Deployable by Design

Get Started

Please prepare the training environment according to BEVDet.

training script:

./tools/dist_train.sh configs/fastbev/paper/fastbev-r50-cbgs.py 8

test script:

./tools/dist_test.sh configs/fastbev/paper/fastbev-r50-cbgs.py work_dirs/fastbev-r50-cbgs/epoch_20_ema.pth 8 --eval mAP 2>&1 | tee work_dirs/fastbev-r50-cbgs/epoch_20_ema.pth.log

Main Results

Model Zoo

• fastbev-r50-cbgs
• fastbev-r50-cbgs-4d
• fastbev-r101-cbgs-4d-longterm
• fastbev-r101-cbgs-4d-longterm-depth

Inference Latency

Exported onnx: Google Drive. Trt Latency based on onnx: Google Drive.

FastBEV++ ONNX Architecture

FastBEV++ Latency

Acknowledgement

This project is not possible without multiple great open-sourced code bases. We list some notable examples below.

• open-mmlab
• CenterPoint
• Lift-Splat-Shoot
• Swin Transformer
• BEVFusion
• BEVDepth
• BEVerse for multi-task learning.
• BEVStereo for stero depth estimation.
• BEVDet
• Fast-BEV