AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Output

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

Changelog for package autoware_ar_tag_based_localizer

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - localization (#9567)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util
• fix(doc): landmark localizer (#8301) fix landmark localizer
• refactor(localization): remove unnecessary dependency in localization packages (#8202) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>>
• perf(autoware_ar_tag_based_localizer): remove unnecessary pub/sub depth for transient_local (#8259)
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• chore: update sample rosbags for localization modules (#7716) Update sample rosbags for new message types
• fix: replace deprecated header in Jazzy (#7603)
  • Use cv_bridge.hpp if available
  • Fix image_geometry deprecated header

  * Add comment for __has_include ---------Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>

• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(ar_tag_based_localizer): add prefix "autoware_" to ar_tag_based_localizer (#7483)
  • Added prefix "autoware_" to ar_tag_based_localizer
  • style(pre-commit): autofix
  • Fixed localization_launch

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Kento Yabuuchi, Kosuke Takeuchi, Masaki Baba, SakodaShintaro, TaikiYamada4, Takayuki Murooka, Yutaka Kondo, Yuxuan Liu, ぐるぐる

0.26.0 (2024-04-03)