Localization & Mapping WG Meeting 2024/05/22

[armaganarsln]

Administrative

• Previous meeting notes

Attendees

Chaired by Armağan Arslan (Leo Drive)

• Patiphon Narksri (MAP IV)
• Hamed Mesri (TomTom)
• Ata Parlar (LeoDrive)
• Roland (TomTom)
• Muhammaed Saidnur Caliskan

Agenda:

• Introduction of new attendees
• Agenda confirmation

Discussion topic:

• Introduction of new attendees

• Agenda confirmation

  • Progress Report on LOAM based mapping (Ata)
  • Progress Report on Lane Detection (Barış)
  • Progress Report on Lane Detection (Barış)
  • Update about MAP IV Engine (Patiphon)
  • Testing BNO055 9-Axis IMU on LIO-SAM (Muhammaed Saidnur Caliskan)

• Checking LOAM base localization

• Progress Report on Lane Localization (Barış)

  • Implementing lane detection method for lane level localization purposes #4702
  • There is also a previous work for blurring:
  • https://github.com/autowarefoundation/autoware_rosbag2_anonymizer

• Progress Report on Loam Based Mapping (Ata)

  • For creating 3d feature map
  • Having some problem converting 3d point cloud to depth image
  • https://youtu.be/vtLoVk9f9fI
  • https://youtu.be/3a2rKVptOUs

• Planning to collect data on Thursday night

  • Heisai XT32, Aplanix POSLVX, ROSBAG2

• A proposal for using both NDT and GNSS in localization (Melike)

• Saidnur will test as a separate source and will report next month.

• Progress report on EKF distortion (Melike)

• Update about MAP IV Engine (Patiphon)

  • Waiting for the sample data from LeoDrive to create map

• Testing BNO055 9-Axis IMU on LIO-SAM (Muhammaed Saidnur Caliskan)

  • Still working on the driver and integration.
  • The goal is to create and open the mapping platform

• Fixposition is still working on the platform.