SPARSE IMAGE POINT CORRESPONDENCES GENERATION AND CORRESPONDENCES REFINEMENT METHOD FOR GROUND TRUTH STATIC SCENE SPARSE FLOW GENERATION

摘要

A method of generating a ground truth dataset for motion planning of a vehicle is disclosed. The method includes: corresponding, for each pair of images, a first image of the pair to a LiDAR static-scene point cloud; and computing a camera pose associated with the pair of images in the coordinate of the point cloud.