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Pretrained Models and Data Files

We provide all the information needed for PF-Track experiments in link.

1. Preprocessed nuScenes Files [Download]

These files are the information files for data loading following the styles of mmdetection3d. Please download and extract the zip to your directory of nuScenes dataset. After doing so, the structure of that directory will be:

- nuscenes
    - v1.0-mini
    - v1.0-test
    - v1.0-trainval
    ...
    - tracking_forecasting_infos_test.pkl
    - tracking_forecasting_infos_train.pkl
    - tracking_forecasting_infos_val.pkl
    - tracking_forecasting-mini_infos_train.pkl
    - tracking_forecasting-mini_infos_val.pkl

FYI, you can also skip this step and reproduce our information files as "preprocessing nuscenes," though it could take longer time.

2. Pretrained PF-Track Models [Download]

We provide the pretrained PF-Track models. After extracting the zip files, you will find f3_all as the small-resolution ($800\times 320$) PF-Track model and f3_fullres_all as the full-resolution model ($1600\times 640$). Please note that the inferenced tracking results in .json format, metric values on nuScenes, and training logs are also here.

3. Single-frame Detection Model [Download] (Optional)

After downloading, please extract them to ./ckpts/ of the root directory of this repository. We provide the single-frame detectors from the first stage of training PF-Track. Downloading them will save the effort in training single-frame detectors for reproducing our results.

4. Pretrained Models for Ablation Studies [Download] (Optional)

If you are interested in our implementation details, please use these checkpoints or tracking results to inspect our ablation studies. We mark the files by their index in our Table 2.