search

OpenDriveLab / OpenLane

[ECCV 2022 Oral] OpenLane: Large-scale Realistic 3D Lane Dataset
Apache License 2.0
501 stars 47 forks source link

Inquery about Valid Label Range #21

Closed Mollylulu closed 2 years ago

Mollylulu commented 2 years ago

For the points range, you select [3, 103] as your y-axis range, while the original waymo point cloud only reaches 75 meters away. However, there are points > 75min your labels. And you also select 103m (>75m)as your valid range. This seems do not make sense, in my opinion. It is Instead, introduces noise for far points. Although you adopt (3D) interpolation to generate labels, points should not be generated over end points for each 3d lane.

to sum up, I wonder why you adopt points that are further than the waymo lidar point cloud range (i.e., 75m) in your label? ( they should be not accurate. )

ilnehc commented 2 years ago

@Mollylulu As said in the paper, 'with the help of the localization and mapping system, 3D lane points in frames within a segment could be spliced into long, high-density lanes'.