LiDAR Marker Localizer

LiDARMarkerLocalizer is a detect-reflector-based localization node .

Inputs / Outputs

lidar_marker_localizer node

Input

Output

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json”) }}

How to launch

When launching Autoware, set lidar-marker for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=lidar-marker \
    ...

Design

Flowchart

@startuml

group main process
  start
  if (Receive a map?) then (yes)
  else (no)
    stop
  endif

  :Interpolate based on the received ego-vehicle's positions to align with sensor time;

  if (Could interpolate?) then (yes)
  else (no)
    stop
  endif

  :Detect markers (see "Detection Algorithm");

  :Calculate the distance from the ego-vehicle's positions to the nearest marker's position on the lanelet2 map;

  if (Find markers?) then (yes)
  else (no)
    if (the distance is nearby?) then (yes)
      stop
      note : Error. It should have been able to detect marker
    else (no)
      stop
      note : Not Error. There are no markers around the ego-vehicle
    endif
  endif

  :Calculate the correction amount from the ego-vehicle's position;

  if (Is the found marker's position close to the one on the lanelet2 map?) then (yes)
  else (no)
    stop
    note : Detected something that isn't a marker
  endif

  :Publish result;

  stop
end group

@enduml

Detection Algorithm

1. Split the LiDAR point cloud into rings along the x-axis of the base_link coordinate system at intervals of the resolution size.
2. Find the portion of intensity that matches the intensity_pattern.

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Changelog for package autoware_lidar_marker_localizer

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix(lidar_marker_localizer): fix typo in launch file (#10405) fix typo
• Contributors: Ryohsuke Mitsudome, Yamato Ando

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(autoware_lidar_marker_localization): fix segmentation fault (#8943)

  • fix segmentation fault

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• refactor(autoware_universe_utils): add missing 's' in the class of diagnostics_interface (#9777)

• feat!: move diagnostics_module from localization_util to unverse_utils (#9714)

  • feat!: move diagnostics_module from localization_util to unverse_utils
  • remove diagnostics module from localization_util
  • style(pre-commit): autofix
  • minor fix in pose_initializer
  • add test
  • style(pre-commit): autofix
  • remove unnecessary declaration
  • module -> interface
  • remove unnecessary equal expression
  • revert the remove of template function
  • style(pre-commit): autofix
  • use overload instead

  * include what you use -- test_diagnostics_interface.cpp ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Yamato Ando, kminoda

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

• fix: fix ticket links in CHANGELOG.rst (#9588)

• chore(package.xml): bump version to 0.39.0

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