Autonomous Vehicle Localization Using Onboard Sensors and HD Geolocated Maps (Project 20) #3
Replies: 11 comments 23 replies
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Hi, I am Nipun Agarwal, a student at BITS PILANI and interested in working and collaborating on this project. |
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Hi, I am a student at FIU and am interested in working and collaborating on this project. |
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have got /solve the first Automation of vehicle |
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Hi, I am Masters from JNTUH and interested in working and collaborating on this project |
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Hi, I am an undergrad at IIT Delhi and interested in working and collaborating on this project. I am planning on starting with a Stereo camera and INS setup, in an Unreal simulation environment. I'll consider adding a lidar source as well once the initial flow is established. Any tips to start off? |
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Hi. So I was currently working on lidar SLAM and am having a problem. I was trying to edit the point cloud output from 3d lidar block using a Matlab function block in simulink, but after processing I am unable to return the processed point cloud from the function. It gives an error saying the point cloud is a class object and not a matrix or scalar, hence the problem. In most examples I have looked at, the lidar data has been recorded for the entire scenario beforehand from the simulink model and the slam algorithm is run afterwards separately using pure MATLAB scripts. Any advice on how I can go about simultaneously getting lidar data and processing it into a map? The most promising approach I have found yet (from this example : https://in.mathworks.com/help/fusion/ug/tracking-vehicles-using-lidar-in-simulink.html) seems to be to use MATLAB System blocks. But I don't have much experience using systems (only used functions previously) so it may take some time getting used to. Is this my best bet or is there a better method to process the lidar data into a point cloud in the same Simulink model? |
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Okay so I have figured it out to some extent using persistent variables and extrinsic functions. Let's see... |
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I was actually looking at it now. I am glad you solved it, but let us know if there is more. |
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Let me add some suggestions anyway. After processing, rather than returning the point cloud as an object, you can extract just the XYZ points and have that array as an output. If needed, you can reorganize the point cloud later on. Beside the XYZ points you might need to extract and output some other properties from the same object. |
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Yeah that's what I ended up doing as well :) Thanks for the tip. |
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You have to start with a camera then with a stereo camera then you can
collaborate with INS
K R K
…On Wed, Mar 16, 2022 at 10:24 AM Aakash Goel ***@***.***> wrote:
Hi, I am an undergrad at IIT Delhi and interested in working and
collaborating on this project. I am planning on starting with a Stereo
camera and INS setup, in an Unreal simulation environment. I'll consider
adding a lidar source as well once the initial flow is established. Any
tips to start off?
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@Krishram97 did you implement orb slam 3 for the INS fusion? |
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@robertogl We started the work on this project. However, there is an issue with HERE HDLM. Even if you create an account, and somehow generate the ID and secret key, it doesn't work. I contacted the HERE support, and they said this feature is not available to the public yet. |
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Hello @robertogl , Do you know if we can create a commercial account with Matlab or access an existing account since we're doing the project. Also, can we please schedule a short call with you since the project pipeline is becoming a bit ambiguous for us since we're not sure if we can use the here hdlm. Could we discuss the options to progress for creating the scenario along with GPS data? |
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Hi @sskulka, |
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I suppose the HERE map integration is only optional for the SLAM algorithm right? At least the scenario can be designed using just the 3D environment in Unreal engine. Please correct me if I am mistaken. |
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You are absolutely right! And thanks for bringing that up. |
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@AkuG18O2 you're correct...we were initially focusing on the GPS-based localisation through sign matching using the object detection pipeline. There's an interesting matlab reference for that. But we ended up doing slam anyways. |
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Hello,
I was wondering if you guys have room for 1 more person on your project?
…On Wed, May 4, 2022 at 10:46 AM robertogl ***@***.***> wrote:
I was actually looking at it now. I am glad you solved it, but let us know
if there is more.
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Hi @emcca029, Are you asking someone in particular? If you are asking me, we have unlimited space :)! |
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I have started with new build with Automated driving toolbox in MATLAB so I
need some time to make it. Please help how to connect unity with MATLAB
K R K
---------- Forwarded message ---------
From: robertogl ***@***.***>
Date: Thu, Mar 17, 2022 at 7:00 PM
Subject: Re: [mathworks/MathWorks-Excellence-in-Innovation] Autonomous
Vehicle Localization Using Onboard Sensors and HD Geolocated Maps (Project
20) (Discussion #3)
To: mathworks/MathWorks-Excellence-in-Innovation <
***@***.***>
Cc: Krishram_97 ***@***.***>, Comment ***@***.***
Hello @AkuG18O2 <https://github.com/AkuG18O2>,
Great to hear you will be working on this project!
We have a large number of examples
<https://www.mathworks.com/help/driving/examples.html> shipped with the
Automated Driving Toolbox that tackle different challenges of autonomous
vehicles. You can start by getting familiar with the ones that are closer
to the approach you are adopting and even use one of them as your starting
point. Please let us know if you need anything else.
Have fun!
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Unity is not supported out of the box. You can use a built-in Unreal support. Witek
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Hi, I am a Priyadharshan C , student at Sona College of Technology and interested in working and collaborating on this project |
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Hey there, I face a problem getting the trial of Automated Driving Toolbox for student account after requesting it many times. |
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Hi @Hazem-M-Abdelaziz, |
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Contribute to the discussion by asking and/or answering questions, commenting, or sharing your ideas for solutions to project #20
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