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waymo-research / waymo-open-dataset

Waymo Open Dataset
https://www.waymo.com/open
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lidar range different in paper and website? #78

Closed AndyYuan96 closed 4 years ago

AndyYuan96 commented 4 years ago

Hi, I see in the waymo dataset website's Data Lidar, it says Range of the mid-range lidar truncated to a maximum of 75 meters, but in paper Scalability in Perception for Autonomous Driving： An Open Dataset Benchmark, Baselines for Object Detection, it says For vehicles and pedestrians we set the voxel size to 0.33m, the grid range to [−85m; 85m] along the X and Y axes, and [−3m; 3m] along the Z axis. why you set grid range to [-85,85], and the data range is [-75,75]?

peisun1115 commented 4 years ago

75m is the range of lidar points in sensor frame.

there can be objects partially outside 75m in vehicle frame. 85 is just an upper obund.

AndyYuan96 commented 4 years ago

if a object is outside 75m, can lidar see it ? , or camera can see the object.

peisun1115 commented 4 years ago

If part of the object is within 75m radius, the truncated LiDAR can still see part of it.