autoware adas

asked 2020-07-07 08:33:10 -0600

Ahmet Soyyigit
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updated 2021-06-21 13:23:12 -0600

jayess
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Hello dear community members,

I am trying to run Autoware.AI 1.14.0 with as many nodes as possible to see its load and performance. As far as I understand, there are two types of maps in Autoware.AI, point cloud map and vector map. The point cloud map of a dataset can be generated by playing its ROSBAG while running ndt_mapping as demonstrated in this video: https://www.youtube.com/watch?v=ss6Bl...

Questions:

Q1-) Is there a way to generate vector map for KITTI dataset?

Q2-) Some planning packages like waypoint_follower mention a map named ADAS map. Is this a separate map from point cloud and vector maps, or is it same of one of them?

Q3-) If ADAS map is a seperate map, how can we generate it for KITTI dataset if possible?

Thanks!

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answered 2020-07-11 10:43:18 -0600

Ahmet Soyyigit
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I learned the answer of first question. There is an online tool for creating vector maps: https://tools.tier4.jp/vector_map_bui... . After generating pcd files of kitti (ref: https://answers.ros.org/question/2696...), the vector map can be generated by using the point cloud data in that online tool.

Also, The ADAS map is not the vector map, but I still don't know what it is.