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metadriverse / scenarionet

ScenarioNet: Scalable Traffic Scenario Management System for Autonomous Driving
Apache License 2.0
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Extract Ego velocity - Nuscenes #77

Open samueleruffino99 opened 5 months ago

samueleruffino99 commented 5 months ago

Hello, I was wondering if you computed the ego velocity directly from the ego position, or nuscenes has already some information on ego velocity otself. Thank you very much for your answer :)

QuanyiLi commented 5 months ago

Hi,

Sorry for the late reply.

Yes, we calculate the velocity with positions between frames. You can get the speed measured by IMU through the canbus package. But we find that it is almost the same as calculated from positions but may contain noise, so we didn't do this.