Skip to content

Latest commit

 

History

History

bevdepth

Folders and files

NameName
Last commit message
Last commit date

parent directory

..
projects
projects
 
 
tools
tools
 
 
README.md
README.md
 
 

README.md

Ref papers

Install

Here we applied the third-party implementation of BEVDepth from BEVDet repo as our baseline.

  • clone bevdet repo and install it.
  • link the projects folder to BEVDet folder.
    • cd /path/to/bevdet/
    • ln -s /path/to/Sparsebit/examples/quantization_aware_training/nuscenes/bevdepth/projects/ .
  • replace the tools folder in BEVDet with our tools
    • cd /path/to/bevdet
    • mv ./tools tools.bak
    • ln -s /path/to/Sparsebit/examples/quantization_aware_training/nuscenes/bevdepth/tools/ .

Training

./tools/dist_qat_train.sh /path/to/config /path/to/qconfig /path/to/pretrained-float-model #gpu
  • For example:
./tools/dist_qat_train.sh ./projects/configs/bevdepth-r50-wo-dcnv2-g4b6-e12.py ./projects/configs/qconfigs/qconfig_r50_lsq_4w4f.yaml ./checkpoints/bevdepth-r50-wo-dcnv2.pth 4

Evaluation

python3 ./tools/qat_test.py /path/to/config /path/to/qconfig /path/to/checkpoints --eval=bbox
  • For example
python3 ./tools/qat_test.py ./projects/configs/bevdepth-r50-wo-dcnv2-g4b6-e12.py  ./projects/configs/qconfigs/qconfig_r50_lsq_4w4f.yaml ./checkpoints/bevdepth-r50-wo-dcnv2-4w4f.pth --eval=bbox

Results

  • experiments setting:
    • in 4w4f, we set the wbit & abit of first conv and head-conv to 8
experiment bits mAP NDS Log
bevdepth-r50-wo-dcnv2 float 33.6 40.9 google
bevdepth-r50-wo-dcnv2 8w8f 33.52 41.12 google
bevdepth-r50-wo-dcnv2 4w4f 33.27 40.72 google
bevdepth-vov99-wo-dcnv2 float 37.84 44.05 google
bevdepth-vov99-wo-dcnv2 4w4f 38.34 44.68 google