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lyft / nuscenes-devkit

Devkit for the public 2019 Lyft Level 5 AV Dataset (fork of https://github.com/nutonomy/nuscenes-devkit)
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Lidar Sensors used in Beta_v0 vs Beta++ #104

Open patrickeala opened 6 months ago

patrickeala commented 6 months ago

I assume that both sensor configurations (BETA++ and BETA_v0) were used in the dataset. I'm interested in the roof lidar which was changed from 40-beam to 64-beam. I have two questions:

  1. What is the data split between Beta++ and Beta_v0?
  2. For the 64-beam roof lidar, what lidar model are they using? (pandar64, velodyne, etc.)

Thanks in advance for the help.