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Localization & Mapping#

The localization-mapping image serves HD maps and estimates the vehicle pose within them.

Localization#

  • GNSS/RTK positioning and IMU dead reckoning
  • Visual odometry and LiDAR map matching
  • Automatic pose initialization
  • EKF state estimation
  • Launch file: tier4_localization_component.launch.xml

Mapping#

  • Lanelet2 vector map and point cloud map serving
  • Occupancy grid and point cloud map construction
  • Map coordinate transform management
  • Launch file: tier4_map_component.launch.xml

Planning and Scenario Simulation use this image only for the map service; the simulator supplies map-to-odometry transforms. Logging and CARLA Simulation also run the localization component.