Localization & Mapping WG Meeting 2024/06/05

[armaganarsln]

Administrative

• Previous meeting notes

Attendees

Chaired by Armağan Arslan (Leo Drive)

• Armağan Arslan (Leo Drive)
• Hamed Mesri (TomTom)
• Ata Parlar (LeoDrive)
• Roland (TomTom)
• Muhammaed Saidnur Caliskan

Agenda:

• Introduction of new attendees
• Agenda confirmation

Discussion topic:

• Introduction of new attendees

  • None

• Progress Report on LOAM based mapping (Ata)

  • For Autoware Labs, This full process of mapping LOAM features
  • Point cloud feature extraction for LOAM based localization autoware.universe#6741
  • Create feature map using post-process GNSS/INS and save to PCD. The feature map is georeferenced
  • Armagan: How would you load the map?
  • Ata: Load full point cloud map for NDT localization. One feature map for localization

• Data collection Collect Urban Dataset for Autoware and Autoware Labs #4725 (comment)

  • Some time LIO-SAM crashes on the highway (because of speed)?

• Progress Report on Lane Detection (Barış)

• Working on lane detection for localization purposes

• Image based lane detection (CLRNet), Didn’t meet the expectation

• Implementing lane detection method for lane level localization purposes #4702, Stopped working on this for now

• Update about MAP IV Engine (Patiphon)

  • Why did you stop the recording between each session?
  • They want to separate the data. Didn’t know what will happen to the data. Want to clearly separate the data

• Questions from Patiphon

  • NavSatFix, NavSatStatus, Status 0 is fix. Covariance, GNSS/IMU is the same unit,ODOM -> GNSS driver (NED), Covariance estimate from the sensor

• Update about localization issue (Melike)

  • There’s an issue when the vehicle hits a bump
  • EKF results in point cloud jumping (normal NDT doesn’t)
  • After changing the pitch estimation parameter, the shift decreased but the problem is not solved. Working fixing EKF

• TomTom’s plan for mapping (Roland)

  • Started working to provide maps to AWF. Will use NDS.live
  • The existing implementation is built around Lanelet2
  • There’s existing converter from AutoStream to Lanelet2
  • https://github.com/tomtom-international/AutoStreamForAutoware
  • To provide a similar converter for NDS.live
  • Problem with tiling. The converted Lanelet2 is too large (?)
  • Question: Is there tiling mechanism for Lalelet2 format
  • Ata: Yes. https://github.com/orgs/autowarefoundation/discussions/4120
  • Osmium (?) https://github.com/leo-drive/lanelet2-map-tile-generator
  • Hamed: Is there any tool to merge multiple Lanelet2 “tiles” into a single map for Autoware to use?
  • Autoware will be able to use it after this PR is merged. feat(map): add differential lanelet loading autoware.universe#6241
  • Patiphon: How would you plan to share the map?
  • Roland: Would be case by case. For example, a research project.