[Autoware 1.11.0] Questions about Lidar mapping and localization

Hi, I have some questions about the map and localization module in the autoware 1.11.0.

How the GNSS data is binded with the point clouds in the map? Otherwise, I should given the "world to map" transform when loading the map?
How to do localization with bad GNSS prior? e.g. Tunnel, dense forest. Is it able to support non gnss localization initialization?
How to evaluate the localizer accuracy? Just compare the GPS position by eyes ?

Asked by haopo2005 on 2019-11-21 01:23:59 UTC

@haopo2005 See below:

Your PCD map does not need to contain absolute GPS point data, it can use relative data - relative to the origin (usually where you started recording the scan). You must then provide the world -> map transform with a static_transform_publisher.
Autoware uses the Japanese Rectangular Coordinate Frame system for the world frame. GNSS usually outputs data in UTM coordinates and, in 1.11.0 especially, it is not possible to localize with GPS - you must use lidar-based localization.
See 3.

Asked by Josh Whitley on 2019-11-21 14:07:44 UTC