63 lines
4.3 KiB
XML
63 lines
4.3 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 700 250" width="700" height="250">
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<text x="350" y="22" text-anchor="middle" font-family="Arial, sans-serif" font-size="14" font-weight="bold" fill="#333">Bounding Boxes vs Occupancy Grid</text>
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<!-- Left: bounding box scene -->
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<text x="175" y="48" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#3498db">Object Detection (Boxes)</text>
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<!-- Road -->
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<rect x="30" y="80" width="290" height="150" rx="4" fill="#eee" stroke="#ccc" stroke-width="1"/>
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<!-- Car bbox -->
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<rect x="60" y="100" width="80" height="40" rx="2" fill="none" stroke="#3498db" stroke-width="2"/>
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<text x="100" y="124" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#3498db">car</text>
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<!-- Oddly shaped debris - bbox is wasteful -->
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<polygon points="200,160 240,140 260,155 250,190 210,200 190,180" fill="#e74c3c" fill-opacity="0.2" stroke="#e74c3c" stroke-width="1.5"/>
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<rect x="185" y="135" width="80" height="70" rx="2" fill="none" stroke="#e74c3c" stroke-width="2" stroke-dasharray="4,3"/>
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<text x="225" y="225" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#e74c3c">debris (box wastes space)</text>
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<!-- Right: occupancy grid -->
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<text x="525" y="48" text-anchor="middle" font-family="Arial, sans-serif" font-size="12" font-weight="bold" fill="#27ae60">Occupancy Grid (Voxels)</text>
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<!-- Grid -->
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<g transform="translate(390, 80)">
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<!-- Draw 12x7 grid -->
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<rect width="270" height="150" fill="#eee" stroke="#ccc" stroke-width="1" rx="4"/>
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<!-- Grid lines -->
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<line x1="0" y1="21.4" x2="270" y2="21.4" stroke="#ddd" stroke-width="0.5"/>
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<line x1="0" y1="42.8" x2="270" y2="42.8" stroke="#ddd" stroke-width="0.5"/>
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<line x1="0" y1="64.3" x2="270" y2="64.3" stroke="#ddd" stroke-width="0.5"/>
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<line x1="0" y1="85.7" x2="270" y2="85.7" stroke="#ddd" stroke-width="0.5"/>
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<line x1="0" y1="107.1" x2="270" y2="107.1" stroke="#ddd" stroke-width="0.5"/>
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<line x1="0" y1="128.6" x2="270" y2="128.6" stroke="#ddd" stroke-width="0.5"/>
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<line x1="22.5" y1="0" x2="22.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="45" y1="0" x2="45" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="67.5" y1="0" x2="67.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="90" y1="0" x2="90" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="112.5" y1="0" x2="112.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="135" y1="0" x2="135" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="157.5" y1="0" x2="157.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="180" y1="0" x2="180" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="202.5" y1="0" x2="202.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="225" y1="0" x2="225" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<line x1="247.5" y1="0" x2="247.5" y2="150" stroke="#ddd" stroke-width="0.5"/>
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<!-- Car cells (blue) -->
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<rect x="22.5" y="21.4" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<rect x="45" y="21.4" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<rect x="67.5" y="21.4" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<rect x="22.5" y="42.8" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<rect x="45" y="42.8" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<rect x="67.5" y="42.8" width="22.5" height="21.4" fill="#3498db" fill-opacity="0.5"/>
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<!-- Debris cells (red) - follows actual shape -->
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<rect x="157.5" y="64.3" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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<rect x="180" y="42.8" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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<rect x="180" y="64.3" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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<rect x="202.5" y="64.3" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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<rect x="180" y="85.7" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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<rect x="157.5" y="85.7" width="22.5" height="21.4" fill="#e74c3c" fill-opacity="0.5"/>
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</g>
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<text x="525" y="248" text-anchor="middle" font-family="Arial, sans-serif" font-size="9" fill="#666">Voxels follow the actual shape -- no wasted space, no predefined categories needed</text>
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</svg> |
