Localization & Mapping WG Meeting 2024/03/13

[armaganarsln]

Administrative

• Previous meeting notes

Attendees

Chaired by Patiphon Narksri (MAP IV)

Armağan Arslan (Leo Drive)
Patiphon Narksri (MAP IV)
Ata Parlar (LeoDrive)
Barış (LeoDrive)
Anweshan Das (TU/e) - Tomtom
Melike Tanrıkulu (Leo Drive)
Ryohsuke MITSUDOME - AWF
Lukas Meier - Fixposition
Samet Kütük - AWF

Agenda:

• Introduction of new attendees
  • Mert Yavuz from ADASTEC
• Progress Report on Lanelet2Map Divider (Ata & Barış)
• A proposal for using both NDT and GNSS in localization (Melike)
• ADASTEC proposal (Mert and Bekay) Benchmark kit for mapping tools

Discussion topic:

• Introduction of new attendees

  • Mohannad Jooriah (Telecommunication Institue)

• Progress Report on Lanelet2Map Divider (Ata & Barış)

  • Tested the time takes for dividing lanelet2 maps
  • Waiting for PRs’ review, Need approval for merge
  • https://docs.google.com/presentation/d/1UzM6XPFLoM4hur3dKBd9nGmJ4u8eOPhv/edit?usp=sharing&ouid=114248835739800630858&rtpof=true&sd=true

• A proposal for using both NDT and GNSS in localization (Melike)

  • Propose to use GNSS error to decide what to feed into ekf_localizer
  • GNSS Pose, NDT Pose Interpolated pose between GNSS and NDT
  • An optional package is added to provide this functionality (pose covariance modifier?)
  • Tested with a high-precision GNSS (2cm)

• ADASTEC proposal (Mert and Bekay) Benchmark kit for mapping tools

  • Armagan: Creating groundtruth would not be easy
  • Berkay: In the scope of this project, the groudtruth is assumed to be provided.
  • Armagan: So is this a conversion tool to use with Kitti? There’s previous work done by Enes (https://autowarefoundation.github.io/autoware-documentation/pr-366/how-to-guides/creating-maps-for-autoware/open-source-slam/) and another one https://autowarefoundation.github.io/autoware-documentation/pr-366/how-to-guides/creating-maps-for-autoware/open-source-slam/compare-slam-algorithms/
  • Will prepare a presentation for the next meeting