feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value #7596

SaltUhey · 2024-06-20T05:03:24Z

Description

Now, Autoware localizer uses Extended Kalman Filter (EKF) based on estimated pose with covariance and estimated velocity.
Moreover, the covariance of estimated pose is empirically defined in advance and remains constant regardless of location.
However, I think that real-time covariance estimation can make some contribution to addressing the following two LiDAR degeneracy environments.

Tunnel
Open spaces such as fields, rice paddies, and wilderness

By properly estimating the covariance at these locations, where ndt_pose are prone to error, the incorrect ndt_pose information is less likely to be integrated into the ekf_pose.
I propose to implement three methods as sub-functions by using this.

Tests performed

Tests were conducted in tunnels and open spaces to verify that the covariance can be estimated in real time.

Notes for reviewers

You need to add the parameter autoware_launch, which is an external repository as shown in the image below.

Interface changes

There are no changes to the interface other than the addition of sub-functions.

Effects on system behavior

NDT covariance estimation will not start unless the arguments are changed. In other words, it does not affect the default Autoware behavior.

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

SakodaShintaro

Thank you very much 👍
I have added some comments so please check them.

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp

localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp

localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json

TaikiYamada4

Thank you for your PR!

Could you also change the config/ndt_scan_matcher.param.yaml as same as the one in autoware.launch?
autowarefoundation/autoware_launch#1038

localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json

localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp

localization/ndt_scan_matcher/README.md

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

SakodaShintaro · 2024-06-28T08:31:57Z

Could you also update config/ndt_scan_matcher.param.yaml?
https://github.com/autowarefoundation/autoware.universe/blob/1635cbeb4fbcf931a563a3006a45282330019493/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml

…om the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

…from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

…e return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

…te_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

… hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

SakodaShintaro

Thank you for all the fixes.
I have confirmed that logging_simulator and AWSIM work properly.
Looks Good To Me

codecov · 2024-07-05T08:18:43Z

Codecov Report

Attention: Patch coverage is 17.94872% with 32 lines in your changes missing coverage. Please review.

Project coverage is 28.67%. Comparing base (ad38061) to head (4991885).
Report is 12 commits behind head on main.

Files	Patch %	Lines
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00%	28 Missing ⚠️
...cher/include/ndt_scan_matcher/hyper_parameters.hpp	63.63%	3 Missing and 1 partial ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #7596   +/-   ##
=======================================
  Coverage   28.66%   28.67%           
=======================================
  Files        1588     1588           
  Lines      116382   116392   +10     
  Branches    49700    49701    +1     
=======================================
+ Hits        33364    33378   +14     
+ Misses      73889    73883    -6     
- Partials     9129     9131    +2

Flag	Coverage Δ		*Carryforward flag
differential	`23.40% <17.94%> (?)`
total	`28.67% <ø> (+<0.01%)`	⬆️	Carriedforward from ad38061

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…in real time instead of using a predefined value (autowarefoundation#7596) * enable to calculate 2D covariance in real time Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to display offset_pose Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to publish estimated ndt_dev Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix name of picture Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Commonality using estimated_cov_2d and removal of unnecessary publishers Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add a specific explanation for 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Remove initial_pose_offset_model_x and initial_pose_offset_model_y from the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Generate initial_pose_offset_model_x and initial_pose_offset_model_y from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add temperature to parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Remove covariance_estimation.enable from the parameters and change the return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add a temperature description Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add processing when the inverse matrix cannot be calculated in estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * set default value and range of temperature Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Simplify the code Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Fix explanation of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Define initial_pose_offset_model_x and initial_pose_offset_model_y in hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> --------- Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: palas21 <palas21@itu.edu.tr>

…in real time instead of using a predefined value (autowarefoundation#7596) * enable to calculate 2D covariance in real time Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to display offset_pose Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to publish estimated ndt_dev Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix name of picture Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Commonality using estimated_cov_2d and removal of unnecessary publishers Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add a specific explanation for 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Remove initial_pose_offset_model_x and initial_pose_offset_model_y from the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Generate initial_pose_offset_model_x and initial_pose_offset_model_y from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add temperature to parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Remove covariance_estimation.enable from the parameters and change the return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add a temperature description Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add processing when the inverse matrix cannot be calculated in estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * set default value and range of temperature Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Simplify the code Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Fix explanation of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Define initial_pose_offset_model_x and initial_pose_offset_model_y in hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> --------- Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…in real time instead of using a predefined value (#7596) * enable to calculate 2D covariance in real time Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to display offset_pose Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to publish estimated ndt_dev Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix name of picture Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Commonality using estimated_cov_2d and removal of unnecessary publishers Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add a specific explanation for 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Remove initial_pose_offset_model_x and initial_pose_offset_model_y from the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Generate initial_pose_offset_model_x and initial_pose_offset_model_y from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add temperature to parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Remove covariance_estimation.enable from the parameters and change the return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add a temperature description Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add processing when the inverse matrix cannot be calculated in estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * set default value and range of temperature Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Simplify the code Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Fix explanation of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Define initial_pose_offset_model_x and initial_pose_offset_model_y in hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> --------- Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…in real time instead of using a predefined value (autowarefoundation#7596) * enable to calculate 2D covariance in real time Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to display offset_pose Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * enable to publish estimated ndt_dev Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix name of picture Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * fix covariance_covariance_estimation.json Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Commonality using estimated_cov_2d and removal of unnecessary publishers Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add a specific explanation for 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Remove initial_pose_offset_model_x and initial_pose_offset_model_y from the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Generate initial_pose_offset_model_x and initial_pose_offset_model_y from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Addition of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add temperature to parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Remove covariance_estimation.enable from the parameters and change the return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add a temperature description Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add processing when the inverse matrix cannot be calculated in estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * set default value and range of temperature Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Simplify the code Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Fix explanation of covariance_estimation_type Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Define initial_pose_offset_model_x and initial_pose_offset_model_y in hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Add explanation of 2D real-time covariance estimation Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> --------- Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

SaltUhey and others added 7 commits June 6, 2024 15:15

enable to calculate 2D covariance in real time

cb5e13d

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

enable to display offset_pose

d42cb0b

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

enable to publish estimated ndt_dev

858d4d9

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Merge branch 'autowarefoundation:main' into feat/estimete_ndt_covariance

397a6de

Merge branch 'autowarefoundation:main' into feat/estimete_ndt_covariance

9ff2180

Addition of explanation of 2D real-time covariance estimation

d008f6d

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

fix name of picture

b80dd65

Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

SaltUhey requested review from anhnv3991, KYabuuchi, kminoda, Motsu-san, RyuYamamoto, SakodaShintaro, TaikiYamada4 and YamatoAndo as code owners June 20, 2024 05:03

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) labels Jun 20, 2024

SaltUhey closed this Jun 20, 2024

SaltUhey reopened this Jun 20, 2024

SaltUhey marked this pull request as draft June 20, 2024 05:25

SaltUhey and others added 3 commits June 20, 2024 17:53

Merge branch 'main' into feat/estimete_ndt_covariance

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style(pre-commit): autofix

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Merge branch 'autowarefoundation:main' into feat/estimete_ndt_covariance

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SaltUhey mentioned this pull request Jun 21, 2024

feat(ndt_scan_matcher): add params autowarefoundation/autoware_launch#1038

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fix covariance_covariance_estimation.json

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Add a specific explanation for 2D real-time covariance estimation

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style(pre-commit): autofix

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SaltUhey and others added 9 commits July 4, 2024 14:39

Remove initial_pose_offset_model_x and initial_pose_offset_model_y fr…

1bb8f05

…om the structure in hyper_parameters.hpp Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Generate initial_pose_offset_model_x and initial_pose_offset_model_y …

7beac66

…from initial_pose_offset_model Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Addition of covariance_estimation_type

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

style(pre-commit): autofix

ef6f5be

Add temperature to parameters

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Remove covariance_estimation.enable from the parameters and change th…

12ecaad

…e return value of estimate_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

style(pre-commit): autofix

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Add a temperature description

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Add processing when the inverse matrix cannot be calculated in estima…

b12d51d

…te_covariance() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

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set default value and range of temperature

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Simplify the code

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

style(pre-commit): autofix

fb707d3

Fix explanation of covariance_estimation_type

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Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

Define initial_pose_offset_model_x and initial_pose_offset_model_y in…

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… hyper_parameters Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>

style(pre-commit): autofix

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Add explanation of 2D real-time covariance estimation

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Merge branch 'main' into feat/estimete_ndt_covariance

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feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value #7596

feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value #7596

SaltUhey commented Jun 20, 2024 •

edited by SakodaShintaro

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feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value #7596

feat(ndt_scan_matcher): estimate the covariance of ndt scan matching in real time instead of using a predefined value #7596

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SaltUhey commented Jun 20, 2024 • edited by SakodaShintaro Loading

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