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Update: from a bit more investigation, looks like all speed put in occupied cells are not relative at all, but just an actual speed of the car at that cell divided by 2000. Even cells occupied by the central car have non-zero values at them.
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Hey @Shmuma, sorry for any confusion. The values in the cells represent the absolute velocity of the vehicles. They are 0 if the location of a cell is outside the road, the velocity / 2000 if occupied by a vehicle, and 1 otherwise. In the paper, by relative, we were referring to the coordinates of the occupancy grid, i.e., it uses the ego vehicles local coordinate system rather than the global coordinate system of the road.
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@jackft Thanks for clarification!
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