LOAM based localization

[ataparlar]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Blocked by

• Point cloud feature extraction for LOAM based localization autoware.universe#6741

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. For this part, a PCAP file contains the position + point cloud packages inside it and ground truth pose data will be published.

For the development and testing of the feature, YTU Campus area PCAP and Ground Truth pose data will be used. This link includes the data: https://drive.google.com/file/d/1ivVL4hYuqqzlTSMTbJV7gEvlbPvMJ7-M/view?usp=drive_link

The usage of the data will be shown in the conversation on this issue.

Purpose

Being able to generate LOAM feature point cloud maps and establish localization for ego vehicles with those feature maps. Make it a localization package in Autoware.

Possible approaches

• Use the precise time-tagged points for extracting the point clouds.
• Use the feature layers coming from the LOAM continuously to localize with the vehicle.

Definition of done

• Convert the PCAP file into the point clouds. (Each point must include precise time)
• Ground truth poses are used instead of LOAM output poses.
• Generate edge feature and surface feature point cloud maps with LOAM
• Calculate the position changes of the ego vehicle with those features.
• Prepare the package.

[ataparlar]

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

• Point cloud feature extraction for LOAM based localization autoware.universe#6741

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

• Point cloud feature extraction for LOAM based localization autoware.universe#6741 (comment)