Mapping WG Meeting 12/10/2022

[n-patiphon]

Administrative

• Previous meeting notes

Attendees

Chaired by Patiphon Narksri (Map IV)

• Armağan Arslan (Leo Drive)
• Ata Parlar (Leo Drive)
• Barış Zeren (Leo Drive)
• David Walmroth (Ann Arbor Autonomous Vehicle Group)
• Enes Cingöz (Adastec)
• Göktuğ Yıldırım (Leo Drive)
• İrem Sena Gölcük
• M. Fatih Cırıt (AWF)
• Melike Tanrıkulu (Leo Drive)
• Patiphon Narksri (Map IV)
• Ryohsuke Mitsudome (Tier IV)
• Samet Kütük (Leo Drive)
• Xinyu Wang (Tier IV)

Agenda

• Introduction of New Attendees
• New participant from TomTom (Roland van Venrooy)
• Progress report by Göktuğ & Enes
• Rosbag data collection for IMU-Lidar Calibration (Melike & armağan)
• Dataset current status
• Action items from last week
• Announcement of cancellation of next week's meeting and asking for a bi-weekly meeting schedule

Discussion topics

• Introduction of New Attendees

  • We have a new attendee: Samet

• New participant from TomTom (Roland van Venrooy)

  • TomTom is not attending this time. Will probably join from the next meeting. Still not sure if they will be a co-chair. They will present what they are doing and what they will do. How we will benefit from the collaboration.

• Progress report by Göktuğ

  • Göktuğ reports the progress on visual localization. Found drift in odometry. Found that pose-graph optimization yielded better results than bundle adjustment. Will investigate other feature extraction besides ORB and check the effects of illumination changes.
  • Armağan asked if Göktuğ can create a discussion about feature extraction, key point matching, etc. In a similar fashion as the dynamic map loading.

• Progress report by Enes

  • Enes is still not sure whether he can use KITTI dataset to test.
  • We still haven’t checked about the copyright of KITTI dataset.
  • There is an open dataset with MIT license https://github.com/TIERS/tiers-lidars-dataset-enhanced
  • After the data copyright is confirmed, Enes will start testing https://github.com/adastec/AWF_Mapping_WG

• Rosbag data collection for IMU-Lidar Calibration (Melike & armağan) & Dataset current status

  • Armağan is collecting the data. After finishes, he will share the data for testing SLAM algorithms sometime before the next meeting.

• Action items from last week

  • The PR for the dynamic map loading has been opened. The discussion in the PR is still ongoing.
  • Kitsukawa san cannot join. No update on the calibration tool yet.

• Announcement of cancellation of next week's meeting and asking for a bi-weekly meeting schedule

  • Mitsudome san suggests bi-weekly might be enough.
  • Patiphon and Enes bi-weekly is ok.
  • Since we have more time to prepare, the presented contents should have more details.
  • The next meeting will be on 26th October.

Action items