3D grids

A cartesian grid is composed of squares (cubes in 3D). In our case, the origin (0,0) is at the ego vehicle's position. The number represents world coordinates, where the first is the x-axis and the second y-axis.

The grid's resolution is scaled based on the camera's height over the ground; 1x1 meter (purple), 5x5 meter (yellow), and 25x25 meter (dark green).

A Polar grid is a grid of rings where the origin (0,0) is at the ego vehicle's position. The numbers written on the rings represent meters from the ego vehicle. The grid's resolution is scaled based on the camera's height over the ground; 1-meter steps (purple), 5-meter steps (yellow), and 25-meter steps (dark green).