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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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I would like to get the (x,y,z) coordinates of of the ego vehicle. #56

Closed Ravindradhanapal closed 5 years ago

Ravindradhanapal commented 5 years ago

as I am working on collision avoidance paper I would like to get the true data ie, x,y,z co-ordinates for all the scenes available could you help me out with the same.

holger-motional commented 5 years ago

Hi. What do you mean by true data? You can get the ego vehicle coordinates (world coordinates) in meters from the ego_vehicle table's translation in the database. The reference (0, 0, 0) is the point at the top left corner of the respective map. Take a look at this function which visualizes ego poses on the map. In the future we will add the formula for converting that into lat/lon coordinates.

Let me know if that answers your questionsl

zhangpur commented 4 years ago

Hi, I have the similar concerns of this problem: Does translation in ego_pose exactly mean the position of the centre of the ego vehicle? Sorry if it sounds like a silly question. It's just for verifying, as localization algorithm is not given in detail. For the task of collision avoidance, size of ego vehicle is also needed. Do you have any reference measurements about this? @holger-nutonomy

holger-motional commented 4 years ago

@zhangpur The reference is the IMU which is located roughly at the center of the rear axle. I think you can use the vehicle size available online: https://en.wikipedia.org/wiki/Renault_Zoe (of course it does not include the additional height due to the lidar).

zhangpur commented 4 years ago

Thanks, very helpful.