A question about the SemanticKITTI dataset

xiaoaoran / FPS-Net

Code for "FPS-Net: A convolutional fusion network for large-scale LiDAR point cloud segmentation".

MIT License

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A question about the SemanticKITTI dataset #5

Open yuyunlong2002 opened 2 years ago

yuyunlong2002 commented 2 years ago

Hello,sry to bother you again, but as a KITTI beginner, a question bother me for a long time. Is the coordinate system of KITTI point cloud data based on the 3D laser scanner? If so, shouldn't the origin coordinates of a frame of point cloud change instantaneously when the car is moving (the 3D laser scanner will move with the car moving at every moment), because the scanning frequency is too fast and KITTI data ignores this local coordinate system?

xiaoaoran commented 2 years ago

Hi, @yuyunlong2002

Yes, the lidar is set up in the top of the vehicle, so it is moving with it. And the coordinate system is local with origin setting in the lidar sensor.

You can find moving classes in semantickitti, which are mapped and merged with static classes in evaluation benchmark.