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Hello all,
I am trying to generate a 3D point cloud map of a small route in my university. May I please know how can this be achieved? What lidar sensor is needed and how do I convert the lidar data into a 3D point cloud map to use it with the Autoware?
Please advise! Thank you.
Autoware has a ndt_mapping node. You can use it in computing tab in runtime manager!
Hi @Masaya Kataoka,
I am doing this to collect the point cloud map before going for a field test from here:
Build a pointcloud map Autoware provides a 3D mapping module based on simultaneous localization and mapping (SLAM). It builds a local-coordinate pointcloud map while manually driving the vehicle. You should be careful about a loop closure constraint. If you drive too far from the origin, the resulting pointcloud map might be misaligned with the real geographical features, unless you use the Graph SLAM method. That is, the pointcloud map built by Autoware alone should not be large-scale.
Do I do the above mentioned using the ndt_mapping node in Autoware?
Thanks!
@pedroexe Here is how created the point cloud map from the recorded rosbag (The rosbag contained the recorded velodyne lidar data).
Wait for all the points to be processed. You could see something like this with Processed/Input.
Sequence number: 7376 Number of scan points: 22288 points.
Once you see that all the points are processed, go back to computing tab and click on [app] beside ndt_map.
Check Google cartographer,
Their ROS package can provide both 2D grid map and 3D point cloud maps. If you use a 3D lidar (Velodyne or Hokuyo) with a quality IMU you could get pretty accurate 3D point cloud maps. I did use google Cartographer in one of my project back in grad school, its a little bit complicated to configure at first though but IMO it worths to the end result. Before you start to create your own map, You may download their sample .bag files and try them ,
that will help you to understand if it is what you are looking for.
refer to their getting started page here
Asked: 2020-02-18 16:54:59 -0500
Seen: 3,293 times
Last updated: Feb 18 '20
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