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halajun / VDO_SLAM

VDO-SLAM: A Visual Dynamic Object-aware SLAM System
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The method to get Speed GT of each object #12

Closed Maple-Yang-neu closed 3 years ago

Maple-Yang-neu commented 3 years ago

First of all, thank you for your excellent work. And I have a question here, how to get the ground truth of object's speed and camera pose?

MinaHenein commented 3 years ago

Hi @Maple-Yang-neu, The equations to compute the speed of each object is defined in (24) and (25) in the paper. This is equivalent to computing the difference of the translation component of the object pose in world frame at two consecutive time steps.

Maple-Yang-neu commented 3 years ago

Thank you for your reply!

Maple-Yang-neu commented 3 years ago

Hi, sir, I have another question, how to get the ground truth of camera pose?