LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Output

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

@startuml

group main process
  start
  if (Receive a map?) then (yes)
  else (no)
    stop
  endif

  :Interpolate based on the received ego-vehicle's positions to align with sensor time;

  if (Could interpolate?) then (yes)
  else (no)
    stop
  endif

  :Detect markers (see "Detection Algorithm");

  :Calculate the distance from the ego-vehicle's positions to the nearest marker's position on the lanelet2 map;

  if (Find markers?) then (yes)
  else (no)
    if (the distance is nearby?) then (yes)
      stop
      note : Error. It should have been able to detect marker
    else (no)
      stop
      note : Not Error. There are no markers around the ego-vehicle
    endif
  endif

  :Calculate the correction amount from the ego-vehicle's position;

  if (Is the found marker's position close to the one on the lanelet2 map?) then (yes)
  else (no)
    stop
    note : Detected something that isn't a marker
  endif

  :Publish result;

  stop
end group

@enduml

Detection Algorithm

1. Split the LiDAR point cloud into rings along the x-axis of the base_link coordinate system at intervals of the resolution size.
2. Find the portion of intensity that matches the intensity_pattern.
3. Perform steps 1 and 2 for each ring, accumulate the matching indices, and detect portions where the count exceeds the vote_threshold_for_detect_marker as markers.

Sample Dataset

• Sample rosbag and map

This dataset was acquired in National Institute for Land and Infrastructure Management, Full-scale tunnel experiment facility. The reflectors were installed by Taisei Corporation.

Collaborators

• TIER IV
• Taisei Corporation
• Yuri Shimizu

Changelog for package autoware_lidar_marker_localizer

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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• fix(autoware_lidar_marker_localization): fix segmentation fault (#8943)
  • fix segmentation fault

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

• refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)
• feat!: move diagnostics_module from localization_util to unverse_utils (#9714)
  • feat!: move diagnostics_module from localization_util to unverse_utils
  • remove diagnostics module from localization_util
  • style(pre-commit): autofix
  • minor fix in pose_initializer
  • add test
  • style(pre-commit): autofix
  • remove unnecessary declaration
  • module -> interface
  • remove unnecessary equal expression
  • revert the remove of template function
  • style(pre-commit): autofix
  • use overload instead

  * include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Yamato Ando, kminoda

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(autoware_point_types): prefix namespace with autoware::point_types (#9169)
• refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util
• feat(localization): add [lidar_marker_localizer]{.title-ref} (#5573)
  • Added lidar_marker_localizer
  • style(pre-commit): autofix
  • fix launch file
  • style(pre-commit): autofix
  • Removed subscriber_member_function.cpp
  • Renamed the package and the node
  • style(pre-commit): autofix
  • Removed pose_array_interpolator
  • Removed unused files
  • Removed include dir
  • style(pre-commit): autofix
  • Renamed wrong names
  • fix magic number
  • style(pre-commit): autofix
  • fix bug
  • parameterized
  • style(pre-commit): autofix
  • add base_covariance
  • style(pre-commit): autofix
  • Removed std::cerr
  • Removed unused code
  • Removed unnecessary publishers
  • Changed to use alias
  • Fixed result_base_link_on_map
  • Changed to use "using std::placeholders"
  • Refactored points_callback
  • Fixed as pointed out by linter
  • Refactored lidar_marker_localizer
  • Fixed const reference
  • Refactor point variables
  • Added detect_landmarks
  • rework filering params
  • fix marker position
  • style(pre-commit): autofix
  • fix build error
  • fix marker position
  • style(pre-commit): autofix
  • update readme
  • style(pre-commit): autofix
  • Added calculate_diff_pose
  • Fixed to pass linter
  • update package.xml
  • Fixed to use SmartPoseBuffer
  • Fixed function calculate_diff_pose to calculate_new_self_pose
  • Compatible with the latest landmark_manager
  • Fixed pub_marker
  • Fixed launch
  • Removed unused arg
  • Removed limit_distance_from_self_pose_to_marker_from_lanelet2
  • Fixed parse_landmarks
  • Fixed parameter type
  • Fixed typo
  • rework diagnostics
  • style(pre-commit): autofix
  • rotate covariance
  • style(pre-commit): autofix
  • add json schema
  • style(pre-commit): autofix
  • parameterize marker name
  • python to xml
  • update launch files
  • style(pre-commit): autofix
  • add debug/pose_with_covariance
  • style(pre-commit): autofix
  • update readme
  • update readme
  • add depend
  • add sample dataset
  • add param marker_height_from_ground
  • style(pre-commit): autofix
  • fix typo
  • add includes
  • add name to TODO comment
  • style(pre-commit): autofix
  • rename lidar-marker
  • modify sample dataset url
  • add flowchat to readme
  • fix callbackgroup
  • add TODO comment
  • fix throttle timer
  • delete unused valriable
  • delete unused line
  • style(pre-commit): autofix
  • fix the duplicated code
  • style(pre-commit): autofix
  • avoid division by zero
  • fix TODO comment
  • fix uncrustify failed
  • style(pre-commit): autofix

  * Update localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp Co-authored-by: SakodaShintaro <<rgbygscrsedppbwg@gmail.com>>

  • change lint_common
  • update CMakeLists
  • save intensity func
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • fix build error
  • style(pre-commit): autofix
  • apply PointXYZIRC
  • add autoware prefix
  • componentize
  • move directory
  • use localization_util's diagnostics lib
  • style(pre-commit): autofix
  • applay linter
  • style(pre-commit): autofix
  • to pass spell-check
  • remove _ex
  • refactor
  • style(pre-commit): autofix
  • remove unused depend
  • update readme
  • fix typo
  • fix json
  • fix autoware prefix

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: yamato-ando <Yamato ANDO> Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>> Co-authored-by: yamato-ando <<yamato.ando@tier4.jp>>

• Contributors: Esteve Fernandez, Masaki Baba, SakodaShintaro, Yutaka Kondo

0.26.0 (2024-04-03)