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tudelft-iv / view-of-delft-dataset

This repository shares the documentation and development kit of the View of Delft automotive dataset.
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Ego vehicle velocity #47

Closed amvishnu67 closed 1 year ago

amvishnu67 commented 1 year ago

Hello! I was trying to find the ego vehicle speed for each frame, for eg: from the odometry data! I couldn't fnd anything and I would like to know if I should estimate the vehicle speed from the radar data? Also, I need the exact vehilce velocity in each frame, not the radial one (But I can do the transformation if only radial velocity is available) so that I could comapare it with similar frames on nuscenes! Please let me know how to proceed on this.

andraspalffy commented 1 year ago

Hello, I suggest to take the odom to camera transformations and calculate the smoothed velocity from those. As frames are by 10 Hz, this will give you a good idea of the movement of the car. I.e. the car will move x, y, z meters during 0.1 seconds.

amvishnu67 commented 1 year ago

Hi, Thanks for the update. I have done as you suggested and now I was wondering if I should do the same method for finding the speed of the annotations. I know the radar data has the absolute speed of the data points, but I clearly need the speed of pedestrian and bike annotations. Please let me know if you already have a method to get the speed of the annotations or else I would have to do the estimation procedure! Thanks and Regards, Vishnu Vijayan

On Thu, Jun 1, 2023 at 6:15 PM Andras Palffy @.***> wrote:

Hello, I suggest to take the odom to camera transformations and calculate the smoothed velocity from those. As frames are by 10 Hz, this will give you a good idea of the movement of the car. I.e. the car will move x, y, z meters during 0.1 seconds.

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andraspalffy commented 1 year ago

Hi, we dont have a ready to use method for this, suggest to have a look at our other publication "hidden gems" github.