Comments (2)
Hi, thanks for your attention and the good question.
For each auto-regressive prediction of the i-th frame (i={0,1,2,...}), ViDAR predicts the point clouds of (i-3, i-2, i-1, i, i+1) frame. These point cloud predictions are all in the coordinates of i-th frame.
In other words, in the main loop of the auto-regressive pipeline (code), for each iteration, the coordinates are aligned to the LiDAR coordinate of the i-th frame. For the prediction in each iteration (code), all past and future coordinates are aligned to the current lidar coordinates.
Thanks,
Zetong
from vidar.
Thanks for your timely answer!
from vidar.
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