Localization & Mapping WG Meeting 2024/02/28

[armaganarsln]

Administrative

• Previous meeting notes

Attendees

Chaired by 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
• Agenda confirmation
  • Progress Report on LOAM based mapping (Ata)
  • Progress Report on NDT & GNSS (Melike)
  • Update about MAP IV Engine (Patiphon)
  • Testing BNO055 9-Axis IMU on LIO-SAM (Muhammaed Saidnur Caliskan)

Discussion topic:

• Introduction of new attendees
  • Mohannad Jooriah (Telecommunication Institue)
• Agenda confirmation
  • Progress Report on Lanelet2Map Divider (Ata)
  • Progress Report on Dynamic Lanelet2 Loading (Barış)
  • Update about Fixposition integration (Lukas)
  • Update about MapIV (Patiphon)
  • Discussion new goals for 2024

Discussion topic:

• Progress Report on Lanelet2Map Divider (Ata)
  • Demonstrated the divider and how it works.
  • In the following 2 weeks there will be testing.
  • Nastra - Geomates uses opendrive to lanelet2 conversion. Maybe we could follow up and invite her to the WG (Samet)
  • Maybe will test dynamic pointcloud and lanelet2 loader?
  • They won’t be combined as one node.
• Progress Report on Dynamic Lanelet2 Loading (Barış)
• Update about Fixposition integration (Lukas)
  • Fixposition Vision RTK2 tested on sim setup
  • First vehicle setup (want to exchange Lidar)
  • They also created a point cloud map from SLAM want to test if localization works with fixposition maps.
  • Barış will share his test results with RGB-D Slam.
• Update about MapIV (Patiphon)
  • Free trial access to MapIV 3D Mapping Tool
  • MapIV Engine is a slam engine with support for many sensors with GNSS IMU
  • Could be used with various platforms
  • Camera point cloud generation with dynamic points removal
  • Developing Cloud Service for offered slam engine its already under the development to make some customization. Hopefully can share with the autoware user.
  • Patiphon will share sample bag file.and how the testing could be done by the WG members.
• Update Autoware Roadmap 2024