Geometric Fusion
Geometric Fusion consists of multi-scale image-to-LiDAR and LiDAR-to-image feature projections (inspired by ContFuse). This is equivalent to replacing the transformers in TransFuser with geometry-based feature projections.
Training
CUDA_VISIBLE_DEVICES=<gpu_id> python3 train.py --id geometric_fusion --batch_size 56Evaluation
Update leaderboard/scripts/run_evaluation.sh to include the following.
export ROUTES=leaderboard/data/evaluation_routes/routes_town05_long.xml
export TEAM_AGENT=leaderboard/team_code/geometric_fusion_agent.py
export TEAM_CONFIG=model_ckpt/geometric_fusion
export CHECKPOINT_ENDPOINT=results/geometric_fusion_result.json
export SCENARIOS=leaderboard/data/scenarios/town05_all_scenarios.json