KITTI dataset details about minklocmultimodal HOT 5 CLOSED

Hi,

1. We used color images only from Camera2, which corresponds to 'image_2' folder in the original dataset. The Camera2 was mounted in the center of the vehicle, which turns out to be sufficient for this task.
2. The results presented in the paper are the ones with no prior preprocessing since we want our method to operate on raw point clouds. Moreover, we did not observe any significant difference when removing the ground plane. However, I suspect cropping a cloud could slightly improve the results.
3. We used only x,z to calculate distances (2D).

from minklocmultimodal.

Thank you for the comment. That was very helpful!

from minklocmultimodal.

I have one more question. I'm trying to run it with the KITTI dataset, but if I put it as is, the number of points does not decrease with ME.utils.sparse_quantize. Is this correct? Or is it correct to shift and rescale to zero mean and [-1, 1] like the existing dataset?

from minklocmultimodal.

No, there is no need for that. You can simply perform quantization without rescaling. For Kitti dataset we set quantization step=0.25.

from minklocmultimodal.

Oh, I understand. Thank you again!

from minklocmultimodal.