Pretrained on nuScenes dataset.
| Algorithm | Config | Params |
Train memory (GB) |
NDS | mAP | Download |
|---|---|---|---|---|---|---|
| BEVFormer-base | bevformer_base_r101_dcn_nuscenes | 69M | 23.9 | 52.46 | 41.83 | model |
| BEVFormer-base-hybrid | bevformer_base_r101_dcn_nuscenes_hybrid | 69M | 46.1 | 53.02 | 42.48 | model |
| BEVFormer-base-blancehybrid | bevformer_base_r101_dcn_nuscenes_blancehybrid | 69M | 46.1 | 53.28 | 42.63 | model |