Question: Why are the particles sampling velocities given to be in m/s

TheCodez / dynamic-occupancy-grid-map

Implementation of "A Random Finite Set Approach for Dynamic Occupancy Grid Maps with Real-Time Application"

MIT License

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Question: Why are the particles sampling velocities given to be in m/s #96

Closed geoeo closed 2 years ago

geoeo commented 2 years ago

As far as I understand the particles in the grid live in the grid space (cells). But according to the Params structure (comments) the sampling velocities are in m/s?

TheCodez commented 2 years ago

Yes, currently particles are in the grid space though it would be better if they were in world space. This PR fixes that, but I haven't got around to integrating it yet. So you're right, the documentation for the param says m/s when in reality it's currently m/s / resolution (same applies to the process noise). I'll try to fix that once I find some time.

geoeo commented 2 years ago

Thanks for clearing it up. I was wondering why I had to put higher noise values than would be expected with m/s