NDT Localization Evaluation

Preparation

1. Copy sample scenario

   mkdir -p ~/driving_log_replayer_data/localization/sample
   cp -r ~/autoware/src/simulator/driving_log_replayer/sample/localization/scenario.yaml ~/driving_log_replayer_data/localization/sample
   

2. Copy bag file from dataset

   cp -r ~/driving_log_replayer_data/sample_dataset/input_bag ~/driving_log_replayer_data/localization/sample
   

3. Filter and slice bag

   source ~/autoware/install/setup.bash
   cd ~/driving_log_replayer_data/localization/sample
   ros2 bag filter input_bag -o filtered_bag -x "/localization/.*" "/sensing/lidar/concatenated/pointcloud" "/tf"
   ros2 bag slice filtered_bag -o sliced_bag -b 1649138880 -e 1649138910
   rm -rf input_bag
   rm -rf filtered_bag
   mv sliced_bag input_bag
   

How to run

1. Run the simulation

   dlr simulation run -p localization  -l play_rate:=0.5
   

   

2. Check the results

   Results are displayed in the terminal like below. The number of tests will vary slightly depending on PC performance and CPU load conditions, so slight differences are not a problem.

    test case 1 / 1 : use case: sample
    --------------------------------------------------
    TestResult: Passed
    Passed: Convergence (Passed): 281 / 281 -> 100.00%, Reliability (Passed): NVTL Sequential NG Count: 0 (Total Test: 283, Average: 2.476907772225963, StdDev: 0.042055602266257264), NDT Availability (Passed): NDT available