Metric Localization and Mapping Sample Clauses

Metric Localization and Mapping. The Metric Mapping & Localization application offers a list of functionality related to the creation and curation of a metric map as well as the metric localization. It is deployed as software package on the IBM cloud infrastructure and based on the multiagent-mapping framework developed at ETHZ. The cars interact with the Metric Mapping & Localization application through a web-interface (see Service Endpoints) allowing uploading sensor data, formulating specific metric-map queries during online operation and receiving metric-map data. The Metric Mapping & Localization application further allows interaction with available metric- maps (see Data Storage) through a console interface and through the execution of scripted jobs. Functionality • Visual(-Inertial) Odometry • Place Recognition • Metric localization • Bundle Adjustment • (Dense Reconstruction) • Map Summarization Data Input • Camera images • IMU data • Wheel odometry data • GPS data Data Output • 6DoF transformations between car body frame and metric map fixed frame of reference. • Arbitrary metric map data (features, landmarks, vertices, …) Interface Protobuf serialization/deserialization of metric map data (see Data Storage). RESTful web interface, implementing a Request-Reply pattern (see Service Endpoints).
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