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apollo1.5 创建添加HD map #641
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主流HDMap制作方案主要借助于激光雷达、Camera等设备,借助于点云处理算法、图像视频算法、SLAM等技术来制作。国内的高精度地图受到相关法律法规的约束,如果有大规模的场景应用需求可以考虑与百度合作。 |
嗯,看了下https://github.com/ApolloAuto/apollo/blob/master/modules/map/data/README.md,有几问题请教下:
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嗯,具体怎么使用制作base_map的服务? |
高精度地图的文件(base_map)的制作服务目前以合作方式对外开放。如果只是简单场地的测试,并且希望自己制作,需要首先获取场地的地理坐标(UTM坐标,获取方式依据不同的应用场景不尽相同,比如采用激光雷达,视觉slam,甚至GPS轨迹或者通过人工处理的方式等等),然后将数据组织成高精度地图(base_map)的格式即可 |
想问下将数据组织成在apollo中可使用的高清地图,使用的是什么工具? |
建议的地图制作流程为:
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@ahuer2435 hello, currently I have base_map.bin, by using:
I think my routing_map and sim_map is ready. But default_end_way_point still on going. Do you know Apollo have some tool for validating if the MAP is loaded into the system. Thanks. |
@xiaoxq 您好,请问下base_map到sim_map的降采样过程中,降采样的力度是如何控制的?是否能够自行调整降采样力度? |
您好,
请教两个问题,对于一个特定场地,如何创建hd map? 如何将创建的hd map添加到apollo中?
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