LOAM Based Localization Task 5 - Implement Localization - Githubissues

autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/

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LOAM Based Localization Task 5 - Implement Localization #7453

Open ataparlar opened 3 months ago

ataparlar commented 3 months ago

Checklist

[X] I've read the contribution guidelines.
[X] I've searched other issues and no duplicate issues were found.
[X] I've agreed with the maintainers that I can plan this task.

Description

The localization output is needed after all the pipeline.

Purpose

Finding the optimal position for ego vehicle

Possible approaches

After finding the transform between point cloud frame and LOAM edge map, go backwards from LiDAR frame to base_link. Transform them with the transformation between clouds.

Definition of done

[ ] Give an output position
[ ] Give an output orientation
[ ] Give an accuracy of calculated optimal position if possible
[ ] Compare it with NDT pose or some other pose sources.

stale[bot] commented 3 weeks ago

This pull request has been automatically marked as stale because it has not had recent activity.