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Terry9a / ERMVP

[CVPR2024] ERMVP: Communication-Efficient and Collaboration-Robust Multi-Vehicle Perception in Challenging Environments
Apache License 2.0
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Add Gaussian noise #1

Open tengjjj opened 2 months ago

tengjjj commented 2 months ago

Hello, I encountered difficulties while reproducing the experimental results. When adding localization noise, the lidar pose in v2v4real is a 4x4 matrix, which is different from opv2v, where it is a list of length 7. How can I correctly add Gaussian noise?

Terry9a commented 6 days ago

When performing pose transformation, a 4x4 affine matrix representing translation and rotation is used. You can add the relevant noise directly to this matrix.