junzhang2016
commented
7 months ago Tkanks for sharing the great work! I have two problem about the NTU4DRadLM dataset.
Firstly, the timestamp of each radar point is missing, which is necessary to improve the accuracy of localization, and I found the proposed method, 4DRadarSLAM, also consider the motion distrotion. In addition, I also found the MSC RAD4R dataset(https://mscrad4r.github.io/) also not provide the timestamp of each radar point. Thereofore, I want to know wheather the timestamp of each radar point is provided by by the 4D radar sensor, or the post-process ignore the timestamp of each radar point when converting the raw data to the sensor_msgs/PointCloud2.
Secondly, I am curious about the velocity of each Radar point, I think the veclocity of each radar point, provided by the NTU4DRadLM dataset, is the relative radial velocity, is right? And the data, called radar_enhanced_pcl, has been filtered according to the absolute (i.e. ego motion compensated) radial velocity of the point, and only keep static points?
Looking forward to your reply! Best wishes!
I checked with Oculii customer service, they didn't output the timestamp of each radar point, so it cannot be obtained.
Second, yes it is relative radial velocity. radar_enhanced_pcl is the raw output by Oculii driver (the manufacturer output this with their special algorithm), it is still relative radial velocity (not absolute velocity).
Freeecode
Tkanks for sharing the great work! I have two problem about the NTU4DRadLM dataset.
Firstly, the timestamp of each radar point is missing, which is necessary to improve the accuracy of localization, and I found the proposed method, 4DRadarSLAM, also consider the motion distrotion. In addition, I also found the MSC RAD4R dataset(https://mscrad4r.github.io/) also not provide the timestamp of each radar point. Thereofore, I want to know wheather the timestamp of each radar point is provided by by the 4D radar sensor, or the post-process ignore the timestamp of each radar point when converting the raw data to the sensor_msgs/PointCloud2.
Secondly, I am curious about the velocity of each Radar point, I think the veclocity of each radar point, provided by the NTU4DRadLM dataset, is the relative radial velocity, is right? And the data, called radar_enhanced_pcl, has been filtered according to the absolute (i.e. ego motion compensated) radial velocity of the point, and only keep static points?
Looking forward to your reply! Best wishes!