Question about nuscenes validation performance

[zoomkinseok]

Thank you for your exciting research.
I evaluated it with the model weights (nuscenes detection validation, BEVfusion*) you provided.
It came out the same as the performance reported in the paper. (mAP: 69.6, NDS: 72.1)

The command is as follows.
./tools/dist_test.sh configs/bevfusion/bevf_tf_4x8_10e_nusc_aug.py weights/bevfusion_tf.pth 8 --eval bbox

But is this result without test time augmentation applied? I ask because it seems that MultiScaleFlipAug3D is applied to the test pipeline.

Best,
Minseok Joo

[liyih]

@zoomkinseok
Is there any difference of performance between with or without MultiScaleFlipAug3D in test pipeline?
Best