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NuScenes.md

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We provide the experiments on the NuScenes dataset. The results are as follows:

Camera mAP mATE mASE mAOE mAVE mAAE NDS
front 1.670 0.882 0.699 0.720 1.506 1.0 7.814
front_left 0.066 1.0 1.0 1.0 1.0 1.0 0.033
front_right 0.138 0.956 0.934 1.0 1.0 1.0 1.163
back 2.683 0.835 0.701 0.721 1.300 1.0 8.767
back_left 0.040 1.0 1.0 1.0 1.0 1.0 0.020
back_right 0.138 1.0 1.0 1.0 1.0 1.0 0.069
all 18.220 0.717 0.414 0.826 1.452 1.0 19.540

To run our code on NuScenes, one can run

python scripts/nuscenes2kitti.py

to convert to NuScenes dataset to KITTI format. Then change the path of KITTI to NuScenes and kick off the training.