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linxuewu / Sparse4D

Sparse4D v1 & v2
https://arxiv.org/abs/2305.14018
MIT License
387 stars 41 forks source link

why don't learn local yaw? #29

Closed BaoWentz closed 10 months ago

BaoWentz commented 1 year ago

I wonder why we don't learn local yaw but yaw, will local yaw be better?

linxuewu commented 1 year ago

What coordinate system and axis does 'local yaw' refer to in the context of rotation angle?

BaoWentz commented 1 year ago

I mean in camera coordinate system、 y axis and alpha angle.

linxuewu commented 1 year ago

Because we are a multi-view model with multiple camera coordinate systems, yaw is not suitable to be defined within a camera coordinate system, especially when dealing with objects across different perspectives. However, if it is used for single-view perception, then it should be reverted to yaw in the camera coordinate system.