Static objects that appear to move due to perspective change

hardsubjective

Asked in interviews

A truly static object can appear to move in your tracker because your viewpoint changed — the visible surface/centroid shifts as you drive past it. How do you handle this so a static object isn't mistakenly tracked as moving?

In the sensor frame a static object appears to move purely because the ego-vehicle moved. Ego-motion compensation transforms detections into a fixed world frame before tracking, so only genuine motion remains.

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