Question about GT bboxes of VehicleOpenDoor.

Thinklab-SJTU / Bench2Drive

[NeurIPS 2024 Datasets and Benchmarks Track] Closed-Loop E2E-AD Benchmark Enhanced by World Model RL Expert

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Closed weimengchuan closed 4 months ago

weimengchuan commented 4 months ago

Hi, I find the GT bboxes of VehicleOpenDoor only includes the body of the car, not the open door.

Example: VehicleOpensDoorTwoWays/VehicleOpensDoorTwoWays_Town12_Route1203_Weather7/camera/rgb_front_3d_bbox/00055.jpg

Sorry, I am unable to upload images due to network issues.

Thanks in advance!

jiaxiaosong1002 commented 4 months ago

@weimengchuan Good point! Unfortunately, CARLA API does not consider the door open scenario and thus the box is incomplete.

BTW, I think this issue should be handled either by E2E Learning or Occupancy, as one of the challenging perception corner case.