Velocity from Nuscenes data

  1. How is velocity data extracted from radar in NuScenes?

I want to better understand the process of obtaining velocity information from radar data within the NuScenes dataset.

  1. Does NuScenes provide velocity information for LiDAR points?

I would like a clarification on whether velocity data is available for LiDAR points in the NuScenes dataset.

  1. Is there ground truth velocity information provided in NuScenes?

Are there reference velocity values provided in the dataset that can be considered as the ground truth?

  1. Regarding the accuracy of velocity estimation: Is it preferable to estimate velocity from LiDAR points by calculating the position between two points in time, considering that radar points are known to be noisy?