Model capability to work with a tilted camera frame

[srimannarayanabaratam]

I would like to know the significance of the orientation of camera frame in the working of this model. The KITTI sensor setup has mutually orthogonal sensor frames i.e, XY plane of velodyne is parallel to ZX plane of camera which in turn is parallel with a flat ground.

While testing this model on a sensor setup that breaks this assumption (camera pitch angle > 5 deg), the performance of the model was very poor.

Did anyone else face this problem?

[wzan0001]

Yes, I think it needs to calculate the pitch angle of camera