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fundamentalvision/BEVFormer

Embedl's build embedl/bevformer-small of the original model fundamentalvision/BEVFormer

fp16
BEVFormer-small architecture graph
BEVFormer-small architecture graph
  • fundamentalvision/BEVFormer
  • FP16
  • AGX Orin
Labels
  • Image
  • Detection
Build
Baseline
Precision
FP16
Runtime
TensorRT 8.5.1.7 with BEVFormer_tensorrt plugins
Cameras
6 views, 1280×736 each
BEV grid
150×150

BEVFormer-small (R101-DCN backbone) detects 3D objects in the ten nuScenes classes from six surround-view cameras.

BEVFormer is by Zhiqi Li et al. (arXiv:2203.17270), Apache-2.0, at fundamentalvision/BEVFormer; the TensorRT export and plugins are from DerryHub/BEVFormer_tensorrt, Apache-2.0.

Files

Artifacts

What ships in the model bundle.

File Kind Size sha256
TensorRT engine

engine/bevformer_small_trt_p_cp_trtexec.engine

 Engine 123.8 MiB 3b333a15c911
trtexec build log

logs/trtexec_build.log

 Log 10.3 MiB cc63da11f746
HTTP server for the engine (serve.sh --port 8000)

engine/serve.sh

 script 2 KiB c59eaebcab93
Model settings

bevformer.json

 Config 394 B bd79c1d1af32
Latency (trtexec)

benchmark/metrics.json

 Results 4 KiB d9be2149378e
Accuracy (PyTorch, on the host)

benchmark/accuracy.json

 Results 269 B e28f25d1f5bf
nuScenes sample (engine inputs, .npz)

inference/nuscenes_sample.npz

 sample 86.7 MiB 9e352c8dc5b1
Detections for the sample

inference/detections.json

 Results 101 KiB fb52b1ceb3d5
BEVFormer_tensorrt licence

LICENSE-BEVFormer_tensorrt

 license 11 KiB c71d239df917