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Thinklab-SJTU / Bench2Drive

[NeurIPS 2024 Datasets and Benchmarks Track] Closed-Loop E2E-AD Benchmark Enhanced by World Model RL Expert
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map #34

Closed xiaobh1519 closed 3 months ago

xiaobh1519 commented 3 months ago

Hello, thank you for your great work. I have a question I would like to ask.

In the generated b2d_map_infos.pkl, I noticed that the x or y coordinates of the lane_pts are very large, mostly around 300, whereas in NuScenes, the lane_pts are mostly in the range of 0 to 50. Therefore, I would like to ask where the origin of the Bench2Drive coordinates is and why there is such a huge difference.

jiaxiaosong1002 commented 3 months ago

@xiaobh1519 Hi, we use CARLA official API to sample from the CARLA official maps. Thus, users are free to generate customized density by using CARLA themselves without replying on experts.

We save high density maps to make sure people who need this level of density could have it.