autowarefoundation / autoware_ai

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EKF design for stable localization #581

Closed TakaHoribe closed 5 years ago

TakaHoribe commented 5 years ago

New Feature

Design EKF for localization following autowarefoundation/autoware_ai#461 .

The algorithm would be better to have functions of

time delay compensation for each sensor (NDT, can, imu, etc...)
bias parameter estimation such as imu Gyro bias, or Lidar installation error

yukkysaito commented 5 years ago

This should be implemented as soon as possible Even when ndt fails, this implementation can be complemented using information such as can, imu, etc., greatly improving robustness

hunkyu commented 5 years ago

@yukkysaito where EKF for localization ?

yukkysaito commented 5 years ago

@hunkyu @TakaHoribe is developping ekf localization.
https://github.com/CPFL/Autoware/issues/1789#issuecomment-471533868

hunkyu commented 5 years ago

ok,thanks @yukkysaito