Coordinate Transformation in nuScenes Dataset

2 minute read

Published: January 04, 2023

Coordinate Transformation in Nuscenes Dataset

Recently I’ve used nuScenes Dataset to train a mesurement model for extended target. The idea is originally form [1-4]. NuSenes dataset is the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view[5]. However, the radar points in nuScenes dataset is very sparse compared to other datasets like the RadarSecenes.