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autowarefoundation / autoware.universe

https://autowarefoundation.github.io/autoware.universe/
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LOAM based localization #7454

Open ataparlar opened 3 months ago

ataparlar commented 3 months ago

Checklist

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Description

LOAM based localization feature provides more robust and reliable localization for an ego vehicle in tunnels. This is a different localization feature than the current ones. This task is getting done under the Autoware Labs for Localization & Mapping Tasks.

This task has a mapping part. The link to the LOAM mapping task:

For the development and testing of the feature, edge and surface feature pcd maps of YTU campus will be published. Here is the link to the data:

Purpose

Establishing localization for ego vehicles in LOAM feature maps. Make it a localization package in Autoware.

Possible approaches

Definition of done

ataparlar commented 3 months ago

An issue for creating the point clouds is opened. Here is the link:

Additionally, this comment contains the details for using the data:

ataparlar commented 3 weeks ago

Hi everyone,

I have uploaded some data for testing and developing the package. LOAM feature maps can be found in this link:

After we have complete the below task it can be used for this package and LOAM mapping too.

ataparlar commented 1 week ago

I have created this fork and branch for this task:

Currently working on this.