Argoverse2 Dataset Implementation

[aapatni]

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[bradyz]

hey @aapatni this looks awesome! thanks for working on this.
have you tried training yet? We had tried argoverse quite a while ago as well.
IIRC the diversity and size of dataset was much smaller than nuScenes, so we just settled on that

[aapatni]

Hey @bradyz , thanks!

Just got finished on a smaller scale training (150 scenes, 5 epochs) and here are the results. Working on using a larger subset of the scene data + more epochs currently.

One difference between nuscenes and argoverse2 datasets is that argoverse2 doesn't have the concept of 'visibility' which I believe helps the model understand what objects in the scene are visible to a percentage of the cameras. Currently, we just set the visibility to 100% for all objects in the scene.

[aoyanl]

Hey @bradyz , thanks!

Just got finished on a smaller scale training (150 scenes, 5 epochs) and here are the results. Working on using a larger subset of the scene data + more epochs currently.

One difference between nuscenes and argoverse2 datasets is that argoverse2 doesn't have the concept of 'visibility' which I believe helps the model understand what objects in the scene are visible to a percentage of the cameras. Currently, we just set the visibility to 100% for all objects in the scene.

Wonderful job! I'm trying the argoverse2 recently. What is the iou of vehicle you get? Looking for your reply!