Question about the Position of Lidar Backbone in the Model Architecture

[barrydoooit]

Hi Authors, thanks for your fancy paper and code. I've been reading the forward procedures of BEVFusion. Regarding these lines, it shows that the Lidar backbone SECOND is applied after the fusion module. I wonder that if this is an update from your original design, or that "Lidar Backbone" is actually the "BEV encoder" shown in Fig 2 (the model pipeline) of your paper. Looking forward to your reply.