Discussing Landmark Definitions and Code Location for Landmark Based Localizer

[SakodaShintaro]

The Localization/Mapping team at TIER IV is currently in the process of implementing landmark based localizer to autoware.universe.

In landmark based localizer, landmarks such as ArUco tags and boards with high LiDAR intensity are detected during localization to calculate the ego vehicle pose.

The landmark is assumed to be a rectangle and is written to the Vector map (lanelet2_map.osm by default) as a 4-vertex Polygon.

For example,

...

  <node id="1" lat="35.8xxxxx" lon="139.6xxxxx">
    <tag k="mgrs_code" v="99XXX000000"/>
    <tag k="local_x" v="22.2356"/>
    <tag k="local_y" v="87.4506"/>
    <tag k="ele" v="2.1725"/>
  </node>
  <node id="2" lat="35.8xxxxx" lon="139.6xxxxx">
    <tag k="mgrs_code" v="99XXX000000"/>
    <tag k="local_x" v="22.639"/>
    <tag k="local_y" v="87.5886"/>
    <tag k="ele" v="2.5947"/>
  </node>
  <node id="3" lat="35.8xxxxx" lon="139.6xxxxx">
    <tag k="mgrs_code" v="99XXX000000"/>
    <tag k="local_x" v="22.2331"/>
    <tag k="local_y" v="87.4713"/>
    <tag k="ele" v="3.0208"/>
  </node>
  <node id="4" lat="35.8xxxxx" lon="139.6xxxxx">
    <tag k="mgrs_code" v="99XXX000000"/>
    <tag k="local_x" v="21.8298"/>
    <tag k="local_y" v="87.3332"/>
    <tag k="ele" v="2.5985"/>
  </node>

...

  <way id="5">
    <nd ref="1"/>
    <nd ref="2"/>
    <nd ref="3"/>
    <nd ref="4"/>
    <tag k="type" v="pose_marker"/>
    <tag k="subtype" v="apriltag_16h5"/>
    <tag k="area" v="yes"/>
    <tag k="marker_id" v="0"/>
  </way>

...

The function that reads landmarks is currently located in autoware.universe/localization/landmark_based_localizer/landmark_parser, but we are thinking of moving it to autoware_common/tmp/lanelet2_extension.

We would like to make time for discussion once here, as there is still room to change or expand the definition of landmarks before moving on.

Should anyone have opinions or suggestions regarding the definitions of the landmarks or the placement of the code, please do not hesitate to leave a comment.

We will wait a week or so and if there are no particular opinions, we will proceed as is.

[SakodaShintaro]

There may still be some changes to landmark_manager, so I plan to do it a little later.

[SakodaShintaro]

Two pull requests were created in connection with this work.

• feat(lanelet2_extension): added localization landmark autoware_common#219
• fix(landmark_based_localizer): fix to for moving the definition code of landmarks autoware.universe#5803

[SakodaShintaro]

Pull requests have been merged.