midterm_writeup.md

MidTerm Writeup

Range Image

Sequence 1

Sequence 3

varying degrees of visibility in the point-cloud

Below are few examples for varying degrees of visibility in the point-cloud.

Image in short distance with many features visible

Vehicles closer to sensor have more features visible.

Image in long distance with only few features visible

Vehicles farther away from sensor have only few features visible.

visibility affected due to one vehicle blocking another

Visibility of one vehicle could be blocked by other vehicle.

side features of a near by vehicle

Features of a side of a car for a vehicle close by.

side features of a far vehicle

Features of a side of a car for a vehicle far away.

visibility affected by blindspot

visibility could be affected if another car is in blindspot with respect to sensor.

visibility affected by trees

visibility could be affected by objects like trees.

visibility affected by lighting conditions

Different lighting conditions could cause images to look different.

other objects like billboards

stable feature on most vehicles

Windshield

Tires

Side doors

Side windows

Rear bumper

Side mirrors

others objects like construction symbol

Birds Eye View

Image Intensity / Image Height

Labels vs detected