A simple question of sensor coordinate.

[synsin0]

I'd like to ask what is the coordinate of multi-frame sensor data. I guess point clouds from past and future are transformed to the current lidar coordinate. and camera is transformed to current lidar coordinate with lidar2img. I think in your case, you do not use ego coordinate. Please point it out if I get wrong with the coordinate.

[tomztyang]

Hi, thanks for your attention and the good question.

For each auto-regressive prediction of the i-th frame (i={0,1,2,...}), ViDAR predicts the point clouds of (i-3, i-2, i-1, i, i+1) frame. These point cloud predictions are all in the coordinates of i-th frame.

In other words, in the main loop of the auto-regressive pipeline (code), for each iteration, the coordinates are aligned to the LiDAR coordinate of the i-th frame. For the prediction in each iteration (code), all past and future coordinates are aligned to the current lidar coordinates.

Thanks, Zetong

[synsin0]

Thanks for your timely answer!