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Test highway localization feasibility of Current Autoware Pipe-Line #4696
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Morning Kento-san @KYabuuchi , currently we are working on creat the map for localization test, |
@liuXinGangChina Good morning. 2MP and 120° FoV are sufficient for operating YabLoc. 👍 (Increasing the resolution beyond this won't bring any benefits. ) |
By the way, the link in the initial post might be incorrect. Please check it.
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already update the link, thank you for remind |
that will be great,since our camera meet yabloc's resuirement,and we have all the other sensors you mentioned, we will continue this task thank you |
Morning,yabuuchi-san @KYabuuchi ,during the preparation of the test, we found a note that said “If the road boundary or road surface markings are not included in the Lanelet2, the estimation is likely to fail.” in the limitation notification of the code。 currently our test lanelet2 map only contain lane line of the road,can you provide some additional material or an example to tell us what formation “road boundary or road surface markings” should be like in a lanelet2 file |
Hi @liuXinGangChina , "road boundary or road surface markings" includes lane lines, stop lines, crosswalks, bus stops, etc. The figure below is a lanelet2 provided in the AWSIM tutorial, which is ideal as it contains all of crosswalk, stop lines, bus stops. Since highways usually only has lane lines, I think your map is sufficiently compatible for YabLoc. |
got it,that‘s true. there are only lane line on the high way |
Hi, Yabuuchi-san @KYabuuchi . During our test on highway, There are some issue confuse me. In the image below we can see line-extract and graph-seg went well on our dataset, but we got nothing in "pf/match_image" and no lane projected to the /pf/lanelet2_overlay_image. Do you have any clue? |
@liuXinGangChina Please check
If |
Thanks for your reply @KYabuuchi , I just checked my lanelet2 file, there are only lane_thin element with sub_type dash and solid in the map, so should edit https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/localization/yabloc/ll2_decomposer.param.yaml#L3 into "only left lane_thin in the road_marking_lables" ? |
@liuXinGangChina If
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Checklist
Description
Several months ago, we have test the ndt based localization pipeline under 60 km/h, you can find the result here
We also notice that autoware introduce a new localization vision based theory called "yabloc", together with test report here and here under 30km/h
In the great march to achieve L4 autonomous driving, it is necessary for autoware to fill the absence of highway secenario. In order to make it happen, we plan to focous on highway localization first.
Purpose
Test autoware's current localization pipeline with highway secenario
Leave comment for localization enhancement if necessary
Possible approaches
Definition of done
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