Ground Truth Velocities

#1

Hi,

Could you please let me know how is the ground truth velocity for each annotated object obtained? I reckon that radars can only measure the radial velocity.

Thanks

#2

Hi @Kshitiz_Bansal, if you refer to https://github.com/nutonomy/nuscenes-devkit/blob/84ee1f3ad767a0ac5953fdd2f2d622bef46bedb0/python-sdk/nuscenes/nuscenes.py#L422, the velocity of a box is estimated by doing:

pos_diff / time_diff