Motion Compensation

This is a concept that Jack from NVIDIA introduced to me with LiDARs.

Essentially, Lasers are measured with respect to the LiDAR frame. However, each point measured in a scan is not measured at the same time.

What about cameras?

From learning from Cyrill Stachniss, you know that regular cameras have rolling shutters, so you run into very similar issues, and there are techniques to correct for that. At NVIDIA, we use a global shutter for the Hawk cameras so you don’t run into this issue.