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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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Current status of HD map? #11631

Closed Doodle1106 closed 4 years ago

Doodle1106 commented 4 years ago

Hi,

I have been going through the project recently and I noticed the use of HD map in the project. I have some HD map related questions that I hope you guys can shed some light on:

  1. is HD map used during localization? If so, can localization be done only on HD map? Is this part open sourced?
  2. is there an annotation tool to annotate HD map?
  3. how is HD map generated? from lidar or camera?

Thanks for trying to help. Joey

jinghaomiao commented 4 years ago

@Doodle1106 thanks for your interests in Apollo.

  1. HD Map is used in pereption, prediction and planning. Localization does not use HD Map.
  2. We don't have annotation tool to anonatate HD map now.
  3. HD map is generated by collecting both point cloud data and camera data.
Doodle1106 commented 4 years ago

thanks @jinghaomiao