The results on the KITTI val.

[Mingqj]

Hi author!
I have a problem of the PDV's results on the KITTI val. I see the results of 3d detection performance for three classes(car, pedestrian, cyclist) of moderate difficulty on KITTI val are 85.05, 57.41, 75.95 in Github. But I find the results on paper are 85.29, 60.80, 74.23.

They are different! Could you tell me the differences between these two results?
Thanks!

[jskhu]

Hi, sorry for the late response! I did a bit of refactoring in the code base before the release so I couldn't re-use the trained weights I used for this table. In general, there is a bit of variance in the results, mainly in the pedestrian vs cyclist metrics, but you should expect to reach the same performance with a few training runs.

In practice, I found the Waymo results were a lot more stable than KITTI, most likely due to the dataset size. Hope this helps!

[Mingqj]

Thanks for your response！