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Nova-UTD / navigator

Navigator, our self-driving vehicle software stack
https://nova-utd.github.io/navigator
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Compare NDT with other algorithms #51

Closed wheitman closed 2 years ago

wheitman commented 2 years ago

Hey team! Please add your planning poker estimate with ZenHub @DragonflyRobotics @JamesMonCode @rae0924

wheitman commented 2 years ago

The GPS sensor is showing very promising results. Please include the efficacy of the GPS dead reckoning approach with NDT. Should they be fused? Should one serve as a backup for the other? @a-bainbridge is gathering data on GPS now, touch base with him.

@Nova-UTD/perception, please assign one of yourselves to this. Prepare a brief report by November 19th, the end of our Sprint. This does not need to be as elaborate as the classifier comparison report, but it should still include at least two metrics by which you have compared localization techniques (the most obvious metric being an algorithm's deviation from the ground truth, e.g. +/- 1 meter).

wheitman commented 2 years ago

@JamesMonCode and I are addressing this as part of #49 . Solution will likley be a mix of sensor fusion (with GPS+IMU dead reckoning chip) and interpolation. Future algorithm might include prediction based on target path.