Base Map 3D point Cloud and Ground Points

#1

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.

#2

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.