Base Map 3D point Cloud and Ground Points

It was mentioned that the base map is used for localization of the vehicle, but do we have access to the 3D point cloud of the base map or is there a way to convert the basemap into a 3D point cloud?

Also, if I have lidar points at a certain time, is there a function that can tell me which points are on the ground? Also, is there a function that can tell me the height of the ground? Argoverse has these functions, so I was curious if NuScenes might have implemented something too.

Hi. Unfortunately we only provide a 2d birds-eye view rendering of the base map. So you can use it as an input to e.g. your detection network, but you cannot retrieve 3d information from it.