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Perception: upgrade PointPillars model & reduce time delay #12561

Merged
merged 6 commits into from
Sep 17, 2020
Merged

Perception: upgrade PointPillars model & reduce time delay #12561

merged 6 commits into from
Sep 17, 2020

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jeroldchen
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  1. Upgrade PointPillars model to detect further and reduce mistaken detected objects.
  2. Use LibTorch to do inference for pfe model to reduce time delay for around 25ms.

@jinghaomiao jinghaomiao merged commit faf1139 into ApolloAuto:master Sep 17, 2020
@jeroldchen jeroldchen deleted the upgrade_pointpillars branch September 17, 2020 08:57
@PGLF-EAP PGLF-EAP mentioned this pull request Dec 3, 2020
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@jinghaomiao jinghaomiao jinghaomiao approved these changes

@storypku storypku Awaiting requested review from storypku

@HongyiSun HongyiSun Awaiting requested review from HongyiSun

@xiaoMrzhang xiaoMrzhang Awaiting requested review from xiaoMrzhang

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@lishaohua01 lishaohua01 Awaiting requested review from lishaohua01

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@jeroldchen @jinghaomiao