Extract Ego velocity - Nuscenes

[samueleruffino99]

Hello,
I was wondering if you computed the ego velocity directly from the ego position, or nuscenes has already some information on ego velocity otself.
Thank you very much for your answer :)

[QuanyiLi]

Hi,

Sorry for the late reply.

Yes, we calculate the velocity with positions between frames. You can get the speed measured by IMU through the canbus package. But we find that it is almost the same as calculated from positions but may contain noise, so we didn't do this.