Localization & Mapping WG Meeting 2024/05/08

[armaganarsln]

Administrative

• Previous meeting notes

Attendees

Chaired by Patiphon Narksri (MAP IV)

• Hamed Mesri (TomTom)
• Armağan Arslan (Leo Drive)
• Ata Parlar (LeoDrive)
• Roland (TomTom)
• Muhammaed Saidnur Caliskan

Agenda:

• Introduction of new attendees
• Agenda confirmation
  • Progress Report on LOAM based mapping (Ata)
  • Progress Report on NDT & GNSS (Melike)
  • Update about MAP IV Engine (Patiphon)
  • Testing BNO055 9-Axis IMU on LIO-SAM (Muhammaed Saidnur Caliskan)

Discussion topic:

• Introduction of new attendees

  • None

• 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 POSLV XROSBAG2
  • A proposal for using both NDT and GNSS in localization (Melike)
  • Waiting for the review feat(autoware_pose_covariance_modifier): add new node to early fuse gnss and ndt poses autoware.universe#6570

• 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)

  • Gave good results on LIO-SAM
  • The IMU is capable of 100 Hz
  • The problem is with the ROS2 driver, as it can only devliers 55 Hz
  • Will work on a custom driver
  • The goal is to create and open the mapping platform
  • Ata:How fast did you collect the data (were you on a robot or were you walking)?
  • Muhammed: On robot (moving very slow < 5km/hr)
  • The main problem was when they’re turning suddenly. The IMU was not helpful because of its low frequency.