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autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_ar_tag_based_localizer at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_ar_tag_based_localizer package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-31
Dev Status UNKNOWN
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_ar_tag_based_localizer package

Additional Links

No additional links.

Maintainers

  • Shintaro Sakoda
  • Masahiro Sakamoto
  • Yamato Ando
  • Kento Yabuuchi
  • NGUYEN Viet Anh
  • Taiki Yamada
  • Ryu Yamamoto

Authors

No additional authors.

AR Tag Based Localizer

ArTagBasedLocalizer is a vision-based localization node.

ar_tag_image

This node uses the ArUco library to detect AR-Tags from camera images and calculates and publishes the pose of the ego vehicle based on these detections. The positions and orientations of the AR-Tags are assumed to be written in the Lanelet2 format.

Inputs / Outputs

ar_tag_based_localizer node

Input

Name Type Description
~/input/lanelet2_map autoware_map_msgs::msg::LaneletMapBin Data of lanelet2
~/input/image sensor_msgs::msg::Image Camera Image
~/input/camera_info sensor_msgs::msg::CameraInfo Camera Info
~/input/ekf_pose geometry_msgs::msg::PoseWithCovarianceStamped EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published.

Output

Name Type Description
~/output/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped Estimated Pose
~/debug/result sensor_msgs::msg::Image [debug topic] Image in which marker detection results are superimposed on the input image
~/debug/marker visualization_msgs::msg::MarkerArray [debug topic] Loaded landmarks to visualize in Rviz as thin boards
/tf geometry_msgs::msg::TransformStamped [debug topic] TF from camera to detected tag
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics outputs

Parameters

{{ json_to_markdown(“localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/schema/ar_tag_based_localizer.schema.json”) }}

How to launch

When launching Autoware, set artag for pose_source.

ros2 launch autoware_launch ... \
    pose_source:=artag \
    ...

Rosbag

Sample rosbag and map (AWSIM data)

This data is simulated data created by AWSIM. Essentially, AR tag-based self-localization is not intended for such public road driving, but for driving in a smaller area, so the max driving speed is set at 15 km/h.

It is a known problem that the timing of when each AR tag begins to be detected can cause significant changes in estimation.

sample_result_in_awsim

Sample rosbag and map (Real world data)

Please remap the topic names and play it.

ros2 bag play /path/to/ar_tag_based_localizer_sample_bag/ -r 0.5 -s sqlite3 \
     --remap /sensing/camera/front/image:=/sensing/camera/traffic_light/image_raw \
             /sensing/camera/front/image/info:=/sensing/camera/traffic_light/camera_info

This dataset contains issues such as missing IMU data, and overall the accuracy is low. Even when running AR tag-based self-localization, significant difference from the true trajectory can be observed.

The image below shows the trajectory when the sample is executed and plotted.

sample_result

The pull request video below should also be helpful.

https://github.com/autowarefoundation/autoware_universe/pull/4347#issuecomment-1663155248

Principle

principle

CHANGELOG

Changelog for package autoware_ar_tag_based_localizer

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)

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)

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 (#9587)

    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

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

  • fix(cpplint): include what you use - localization (#9567)

  • 0.39.0

  • update changelog

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)

  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)

    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

File truncated at 100 lines see the full file

Launch files

  • launch/ar_tag_based_localizer.launch.xml
      • param_file [default: $(find-pkg-share autoware_ar_tag_based_localizer)/config/ar_tag_based_localizer.param.yaml]
      • node_name [default: ar_tag_based_localizer]
      • input_lanelet2_map [default: ~/input/lanelet2_map]
      • input_image [default: ~/input/image]
      • input_camera_info [default: ~/input/camera_info]
      • input_ekf_pose [default: ~/input/ekf_pose]
      • output_pose_with_covariance [default: ~/output/pose_with_covariance]
      • debug_image [default: ~/debug/image]
      • debug_mapped_tag [default: ~/debug/mapped_tag]
      • debug_detected_tag [default: ~/debug/detected_tag]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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