Hello, I wanted to learn more about the method you used for ground segmentation.

I found this paper:

https://www.researchgate.net/publication/329612826_A_Slope-robust_Cascaded_Ground_Segmentation_in_3D_Point_Cloud_for_Autonomous_Vehicles

Is this the same or a similar method? In the paper they mention about multi-region RANSAC plane fitting, which you don't, but the earlier part they implemented in the paper seemed similar.

Is there a paper you would recommend me to check to understand your method better?

Thank you!

Hi. I am new to Autoware. I am currently using Autoware 1.14 on ROS melodic, ubuntu 18.04. I have tried creating 3d map using bag file from demo moriyama file. What I did was that, I upload the bag file on the simulation page using ref button; play for 1 sec, then pause it; I went to computing tab and selected ndt_mapping. I run rviz using the button on the right corner on the GUI. I set the config of the rviz to be ndt-mapping as well. Then, I unpause the button on the simulation tab to continue the running. Basically, I could see the point cloud map result from the rviz. All is well. I followed this tutorial and I successfully created the map: https://www.youtube.com/watch?v=ss6Blrz23h8&list=WL&index=1&ab_channel=%E3%81%86%E3%81%99%E3%81%A0%E3%81%B2%E3%81%95%E3%81%97

However, now, I want to use another rosbag file, which was recorded by other people, not moriyama. It is a 28 GB rosbag file containing LiDAR and IMU scanning data. I would like to create the 3D map by using Autoware, but I don't know how to do that. I tried to upload the bag file on the simulation tab, but it could not show the detail of the bag file after I uploaded it. Maybe it is due to the file that is too big? How can I deal with big rosbag file in simulation? Do I need to do pre-processing steps to my rosbag data before I use it in Autoware for creating the map? Is there any tutorial step by step that I can follow to build this 3D map with our own rosbag file? Thank you.

I'm beginner of ROS and Autoware.
I want to mapping the road environment by using Autoware mapping tool.

But I have a question...
To make the map, I don't neet to measure and save the vehicle motion signal like velocity, yaw rate and etc.,
The NDT mapping tech. don't need other signals except point cloud data of lidar?

Thanks a alot..^^

Load driver (Quick Start)
1 Specify the my_sensing.launch generated in the Demo Data section to the file
selection dialog of [Sensing] in the [Quick Start] tab and press Sensing.

for this above step

and getting this below error.
ERROR: cannot launch node of type [pointgrey/grasshopper3]: can't locate node [grasshopper3] in package [pointgrey]

I guess some pointgrey package not installed. but it's not mentioned in required library section. so I am not touching that part.

and I am not able to complete quick start demo.

share me right method to get simulation running.

Thanks