LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Name	Type	Description
~/input/lanelet2_map	autoware_map_msgs::msg::HADMapBin	Data of lanelet2
~/input/pointcloud	sensor_msgs::msg::PointCloud2	PointCloud
~/input/ekf_pose	geometry_msgs::msg::PoseWithCovarianceStamped	EKF Pose

Output

Name	Type	Description
~/output/pose_with_covariance	geometry_msgs::msg::PoseWithCovarianceStamped	Estimated pose
~/debug/pose_with_covariance	geometry_msgs::msg::PoseWithCovarianceStamped	[debug topic] Estimated pose
~/debug/marker_detected	geometry_msgs::msg::PoseArray	[debug topic] Detected marker poses
~/debug/marker_mapped	visualization_msgs::msg::MarkerArray	[debug topic] Loaded landmarks to visualize in Rviz as thin boards
~/debug/marker_pointcloud	sensor_msgs::msg::PointCloud2	[debug topic] PointCloud of the detected marker
/diagnostics	diagnostic_msgs::msg::DiagnosticArray	Diagnostics outputs

Parameters

Name	Type	Description	Default	Range
marker_name	string	The name of the markers listed in the HD map.	reflector	N/A
resolution	float	Grid size for marker detection algorithm. [m]	0.05	≥0.0
intensity_pattern	array	A sequence of high/low intensity to perform pattern matching. 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)	[-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1]	N/A
match_intensity_difference_threshold	float	Threshold for determining high/low.	20	≥0
positive_match_num_threshold	float	Threshold for the number of required matches with the pattern.	3	≥0
negative_match_num_threshold	float	Threshold for the number of required matches with the pattern.	3	≥0
vote_threshold_for_detect_marker	float	Threshold for the number of rings matching the pattern needed to detect it as a marker.	20	≥0
marker_height_from_ground	float	Height from the ground to the center of the marker. [m]	1.075	N/A
self_pose_timeout_sec	float	Timeout for self pose. [sec]	1.0	≥0.0
self_pose_distance_tolerance_m	float	Tolerance for the distance between two points when performing linear interpolation. [m]	1.0	≥0.0
limit_distance_from_self_pose_to_nearest_marker	float	Distance limit for the purpose of determining whether the node should detect a marker. [m]	2.0	≥0.0
limit_distance_from_self_pose_to_marker	float	Distance limit for avoiding miss detection. [m]	2.0	≥0.0
base_covariance	array	Output covariance in the base_link coordinate.	[0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.569e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 7.569e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625]	N/A
marker_width	float	Width of a marker. This param is used for visualizing the detected marker pointcloud[m]	0.8	≥0.0
enable_save_log	boolean		False	N/A
save_file_directory_path	string		$(env HOME)/detected_reflector_intensity	N/A
save_file_name	string		detected_reflector_intensity	N/A
save_frame_id	string		velodyne_top	N/A

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

Detection Algorithm

1. Split the LiDAR point cloud into rings along the x-axis of the base_link coordinate system at intervals of the resolution size.
2. Find the portion of intensity that matches the intensity_pattern.
3. Perform steps 1 and 2 for each ring, accumulate the matching indices, and detect portions where the count exceeds the vote_threshold_for_detect_marker as markers.

Sample Dataset

• Sample rosbag and map

This dataset was acquired in National Institute for Land and Infrastructure Management, Full-scale tunnel experiment facility. The reflectors were installed by Taisei Corporation.

Collaborators

• TIER IV
• Taisei Corporation
• Yuri Shimizu