diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/images/ytu-campus-pcd-map.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/images/ytu-campus-pcd-map.png index 4a8c598aa9c..5decb28ddd1 100644 Binary files a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/images/ytu-campus-pcd-map.png and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/images/ytu-campus-pcd-map.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/index.md b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/index.md index 7b330d9b9c4..d4418424f65 100644 --- a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/index.md +++ b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/index.md @@ -36,7 +36,7 @@ general information about the YTU Davutpaşa Campus:
![ytu-campus-environment](images/ytu-campus.png){ align=center }
- Yıldız Technical University (YTU) campus map. + Yıldız Technical University (YTU) campus map.
@@ -54,7 +54,7 @@ we have converted the output map into MGRS format.
![ytu-campus-pcd-map](images/ytu-campus-pcd-map.png){ align=center }
- Yıldız Technical University (YTU) campus pointcloud map. + Yıldız Technical University (YTU) campus pointcloud map.
@@ -67,6 +67,6 @@ information on the Lanelet2 map creation process, please refer to the [`Creating
![ytu-campus-lanelet2-map](images/ytu-campus-lanelet2-map.png){ align=center }
- Yıldız Technical University (YTU) campus lanelet2 map. + Yıldız Technical University (YTU) campus lanelet2 map.
diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-150m.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-150m.png new file mode 100644 index 00000000000..222a57d0563 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-150m.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-60m.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-60m.png new file mode 100644 index 00000000000..7fcd599ea88 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/ndt-range-60m.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/pcd-range-cloud-compare.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/pcd-range-cloud-compare.png new file mode 100644 index 00000000000..ebf927249a2 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/pcd-range-cloud-compare.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-1.0.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-1.0.png new file mode 100644 index 00000000000..615577b7899 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-1.0.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-3.0.png b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-3.0.png new file mode 100644 index 00000000000..b5c0d5e14e9 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/images/voxel-size-3.0.png differ diff --git a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/index.md b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/index.md index 1a6172052b0..c126cf2a91f 100644 --- a/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/index.md +++ b/docs/how-to-guides/integrating-autoware/tuning-parameters-and-performance/tuning-parameters/localization-tuning/index.md @@ -1,3 +1,144 @@ # Tuning localization ## Introduction + +In this section, +our focus will be on refining localization accuracy within the YTU Campus environment through updates to localization parameters and methods. +Our approach entails using NDT as the pose input source, +and the Gyro Odometer as the twist input source. +These adjustments play a pivotal role +in achieving a heightened level of precision and reliability in our localization processes, +ensuring optimal performance in the specific conditions of the YTU campus. + +## NDT parameter tuning + +### Crop-box filter for localization input + +- In our campus environment, certain areas can be challenging for NDT localization, + particularly those near cliffs or wooded areas that are far from buildings. + +
+ ![ytu-campus-pcd-range](images/pcd-range-cloud-compare.png){ align=center } +
+ Yıldız Technical University (YTU) campus challenging areas for NDT localization. +
+
+ +- In these areas, + the default NDT range + (which involves cropping the NDT input point cloud at the localization utility point cloud pipeline) + may prove insufficient for aligning point clouds. + The default NDT input point cloud parameters are shown below: + +!!! note " The default [crop_box_filter_measurement_range.param.yaml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/localization/crop_box_filter_measurement_range.param.yaml) file for localization util." + + ```yaml + /**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False + ``` + +- The green points (topic name: `/localization/pose_estimator/points_aligned`) + represent the NDT localization aligned points on the map in the image below. + The default range is 60 meters, meaning points beyond this distance cannot be utilized. + +
+ ![ytu-campus-pcd-range](images/ndt-range-60m.png){ align=center } +
+ NDT aligned points within a 60-meter crop box range +
+
+ +- If we wish to increase our NDT input point cloud range, + we can make the following changes in the `crop_box_filter_measurement_range.param.yaml` file. + However, + please bear in mind that since this alteration enlarges the size of the NDT input point cloud, + it will require additional resources on your processor. + + ```diff + /**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + - min_x: -60.0 + + min_x: -150.0 + - max_x: 60.0 + + max_x: 150.0 + - min_y: -60.0 + + min_y: -150.0 + - max_y: 60.0 + + max_y: 150.0 + min_z: -30.0 + max_z: 50.0 + negative: False + ``` + +
+ ![ytu-campus-pcd-range](images/ndt-range-150m.png){ align=center } +
+ NDT aligned points within a 150-meter crop box range +
+
+ +### Voxel-grid filter for localization input + +- Voxel Grid filtering is a technique used in point cloud pre-processing + to reduce the density of 3D point cloud data while preserving its overall structure. + This is especially useful in scenarios + where high-resolution point clouds are computationally expensive + to process or unnecessary for the task at hand. + The default voxel size for all three axes in Autoware is 3.0. + If you have additional computational resources, + reducing the voxel size can enhance localization accuracy. + However, please be aware that this will demand more computational power. + +!!! note " The default [voxel_grid_filter.param.yaml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/localization/voxel_grid_filter.param.yaml) file for localization util." + + ```yaml + /**: + ros__parameters: + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 + ``` + +- The default voxel size for downsampling is 3.0, + and the resulting aligned points will resemble the image below. + +
+ ![voxel-size-1.0](images/voxel-size-3.0.png){ align=center } +
+ Voxel size 3.0 aligned points (more sparse) +
+
+ +- We have sufficient computational power available on our tutorial vehicle, + so we will reduce the voxel size to improve localization accuracy. + Feel free to experiment with tuning the voxel size for your own computer setup. + + ```diff + + /**: + ros__parameters: + - voxel_size_x: 3.0 + + voxel_size_x: 1.0 + - voxel_size_y: 3.0 + + voxel_size_y: 1.0 + - voxel_size_z: 3.0 + + voxel_size_z: 1.0 + ``` + +
+ ![voxel-size-1.0](images/voxel-size-1.0.png){ align=center } +
+ Voxel size 1.0 aligned points (more dense but it requires computational power) +
+