It is well known that the ego frame is with reference to the center of the real axle (approximately where the IMU is at) projected to the ground. However, I noticed that the perception distance along the axis z in FastBEV is between -5m~3m (point cloud range) and the occupancy space along the axis z is define within nearly -4.75m~1.25m, where the heights w.r.t the center of four layers of the defined occupancy space are -4,-2.5,-1,0.5m separately. In this case, the occupancy can only focus on only a little space above the car, while it concentrates more on huge space below the car, which makes me confused. Can you give me some tips?
It is well known that the ego frame is with reference to the center of the real axle (approximately where the IMU is at) projected to the ground. However, I noticed that the perception distance along the axis z in FastBEV is between -5m~3m (point cloud range) and the occupancy space along the axis z is define within nearly -4.75m~1.25m, where the heights w.r.t the center of four layers of the defined occupancy space are -4,-2.5,-1,0.5m separately. In this case, the occupancy can only focus on only a little space above the car, while it concentrates more on huge space below the car, which makes me confused. Can you give me some tips?