Getting GPS data from nuscenes dataset

[RRK13]

Full sensor suite (1x LIDAR, 5x RADAR, 6x camera, IMU, GPS), as per the https://www.nuscenes.org/

I was able to get all data except GPS.

Please share the steps to be taken, to get the GPS data. it would be also helpful if an example is shared.

[holger-motional]

Hi. The GPS data is very bad in an urban environment with tall buildings around. Therefore we only release the ego pose, which is the output of our lidar/GPS/IMU-based localization algorithm.

[laikakano]

Is the GPS data of the nuscenes dataset published now?

[laikakano]

Is the GPS data of the nuscenes dataset published now?

[whyekit-motional]

@Monssica do check out the CAN bus expansion: https://github.com/nutonomy/nuscenes-devkit/blob/master/python-sdk/nuscenes/can_bus/README.md

[laikakano]

Does the provided data processed through the localization algorithm can obtain the ego_pose in the Nuscenes dataset？

[whyekit-motional]

It depends on the which data from CAN bus expansion you are referring to, e.g. the IMU data would simply be the measurements from the IMU

[laikakano]

okay,From which IMU data is the ego_pose file you published calculated?

[whyekit-motional]

In the car setup for nuScenes, there is only one IMU (pls see here) - that would be the IMU you are looking for

[max-monastirsky]

Hey,
Can we get the GPS location of the (0,0) coordinate of every scene?

[whyekit-motional]

@max-monastirsky pls see if this helps you: #144 (comment)

[synsin0]

Hi, I try to understand the sentence in can_bus "pos: [3] The position (x, y, z) in meters in the global frame. This is identical to the nuScenes ego pose, but sampled at a higher frequency.". Does it mean that the position info in can_bus is from LiDAR/GPS/IMU localization system instead of raw GPS data? So only the IMU data is raw but the raw GPS data is not released as its quality is bad, right? Thanks a lot if someone may answer.

[whyekit-motional]

@synsin0 that is correct - GPS data is not released

[Gabriel0224]

I try to use data to do SLAM experiment. It needs groundtruth data to compared. Do you have the same data to make it ?