What is z0 and why is it =-1.73 in the Kitti dataset?

corfyi / UCMCTrack

[AAAI 2024] UCMCTrack: Multi-Object Tracking with Uniform Camera Motion Compensation. UCMCTrack achieves SOTA on MOT17 using estimated camera parameters.

https://ojs.aaai.org/index.php/AAAI/article/download/28493/28960

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What is z0 and why is it =-1.73 in the Kitti dataset? #22

Closed rslim97 closed 8 months ago

rslim97 commented 8 months ago

https://github.com/corfyi/UCMCTrack/blob/e2ad836216c8edba5f4166c80e5cff9e042380d5/detector/mapper.py#L92C1-L100C19

how to determine z0?

corfyi commented 8 months ago

The KITTI dataset provides a mapping matrix from 3D coordinates to 2D coordinates, where z0 represents the height offset of the ground plane relative to the 3D Lidar sensor. For more details, please refer to the KITTI official website.

rslim97 commented 8 months ago

thanks @corfyi for clarifying!