Localization System

Under construction 🏗️

Localization System refers to the hardware + software components which computes the global or relative pose trajectory. This pose could be either 6DoF SE(3) or 3DoF SE(2).

In this site, I usually talk about Localization System for a fleet¹ of autonomous vehicles driving on urban public roads.

Output

• 6DoF pose trajectory w.r.t global UTM (or relative ENU frame)
  • Covariances
• Linear & angular velocities
• System health diagnostics

Input

• 2-3 Lidars for full coverage
• 3D pointcloud map (local or geo-referenced)
• 6-axis IMU for velocity updates
• GNSS pose for initialization prior

Compute

• Onboard computer to run Lidar scan-matching and pose filtering
• High bandwidth network interface for dense Lidar pointclouds

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1. Mapping vehicles would contain more accurate and expensive sensors than fleet vehicles. ↩