I am glad to see your code and paper, It is a interesting research!!!! But I have some questions in dataset. I observated you used the Apollo Scape Sample date to visuslization , the data structure of Sample date is not explained in the Data Structure. I want to know what the nine data represent. For example, such as "1534157110.73 44751 3.924 3.016 1 280.979 838.996 0.000 0.000".