search

waymo-research / waymo-open-dataset

Waymo Open Dataset
https://www.waymo.com/open
Other
2.72k stars 615 forks source link

'map_pose_offset' in Motion Dataset #803

Open chenshi3 opened 7 months ago

chenshi3 commented 7 months ago

Hi!

Upon reviewing the Motion lidar tfrecord data, I noticed the absence of the 'map_pose_offset' parameter. This omission could potentially lead to inaccuracies when transforming lidar points to their corresponding map coordinates. However, the discrepancies may be minor (less than 0.05 meters according to observations in perception dataset).

scott-ettinger commented 7 months ago

Hi,

For the motion dataset, the corrections are already included in the data such that the motion data is already consistent with the map.