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PROGRESS review 10

TEAM J: ALIGN

Poorva, Rohan, Sachit, Sanil, Uma

Sponsor: PIX Moving

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GOALS

  • Hardware setup status
  • Complete Sim tests for Navigation and Docking subsystems
  • Complete safety subsystem and relevant unit tests
    • The system should perform diagnostics, provide feedback, and log system health upon request

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HARDWARE UPDATE

Battery damaged, not chargeable. Tried disconnecting various ports on BMS and main battery, didn’t work. Pod is deformed.

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Vector map generation and testing

  • Tried generating the lane-only vector map using both Tier IV’s online software as well as with the Assure Mapping Tools (dockerized) designed by the author of OpenPlanner.
  • Resulting maps seem correct but the vehicle is unable to plan a path with these maps, so we are discussing with the Autoware team to ensure they have been drawn correctly.
  • HD maps usually need professionals to draw them, and good quality ones cannot be drawn by hand.

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Sensor Fusion for Relative Odometry

  • Tried to get a new estimate of pod location using fused laser and camera data
  • Led to increase in noise in some cases, probably because of incorrect covariances
  • Changed formulation from relative localization to relative odometry i.e. instead of refining pod pose assuming odometry to be solved, jointly optimize both pod location and odometry
  • Yet to fuse IMU for relative odometry

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Adding Robustness in LiDAR measurement

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  • LiDAR measurement will be affected by clutter near the pod, we can't assume this will never be there
  • Use aprilTag estimate as prior for Pod and use the Lidar indexes and ranges based on that estimate

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Simulation tests for navigation and docking

With Retrace

Without Retrace

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Pedestrian tracking & Prediction

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STate machine integration

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CHALLENGES

  • Hardware:
    • Multiple attempts at setting up chassis, issues with battery
    • Bent pod hindered the validation of software with real sensor data
    • Need to obtain intrinsics and extrinsics of camera & LiDAR

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  • Software
      • Test out relative odometry and fuse IMU measurements
      • Final integration testing complex due to many components
      • Generated vector maps for simulation environment unable to run simulation

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TASKS

  • System integration
  • Dress rehearsal
  • Collect Real-World Sensor data

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Thank you!

Questions?

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