Pose of vehicle is unclear

In the pose definition of a vehicle, it just state: Position and orientation measured in world coordinates with world system as reference.

This leaves it open, if the position/ orientation is measured towards the bounding box center, rear axle, front axle, ...

From the axle definition, one could implicitly think, that the reference is the rear axle.

We would suggest to use the center of the bounding box as reference, since it is not always clear where the rear axle / front axle is (for unknown vehicles in the monitor case)