Bounding box generation

[wyddmw]

Hi, thanks for this great racing car dataset! As mentioned in the paper, the bounding boxes can be generated by IMU/GNSS. Is there any chance that a tip on the bbx generation could be provided? Looking forward to your reply.

[amarkoolk]

Thanks for your interest in the RACECAR dataset!

We generated bounding boxes using a fixed size of the car known to being approximately 5.0 m in length and 2.0 m in width. Then using an EKF to generate a smooth pose estimate around the center of gravity using the IMU/GNSS, we generated the bounding box points based on the pose and approximated car size.