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Model Zoo

Common settings

  • We use distributed training.
  • For fair comparison with other codebases, we report the GPU memory as the maximum value of torch.cuda.max_memory_allocated() for all 8 GPUs. Note that this value is usually less than what nvidia-smi shows.
  • We report the inference time as the total time of network forwarding and post-processing, excluding the data loading time. Results are obtained with the script benchmark.py which computes the average time on 2000 images.

Baselines

SECOND

Please refer to SECOND for details. We provide SECOND baselines on KITTI and Waymo datasets.