Rohit, Berkeley Deep Drive, Week 3

My main project is working on creating an accurate vector map of the entire Richmond Field Station by using the relatively inaccurate GPS coordinate from google earth/maps. I'm working on this project with Devin who is a local rising senior and Heiru who is a graduate student originally from Taiwan but attends the University of South Carolina.

A vector map is the defined area that a vehicle knows it is allowed to operate in. The benefit of having a vector map is that an autonomous vehicle can still function in areas where there may not be GPS connection due to interference from buildings or trees. The vector map is also considered to be more accurate than GPS, but the trade off is its high creation cost and time requirement, as there is no public software that can accurately make a vector map from raw collected data. The data that will be used to construct the vector map was collected from the test vehicle as it was driven around the facility. Here is a picture of the raw data in a compressed 2D image. The image shows one of the main issues we ran into, specifically the autoware tool that compresses the raw 3D data into a 2D image stacks the points together creating significant inaccuracies. Therefore it was very difficult to even attempt to make a accurate vector map using this method.

The attempted vector map is drawn in purple and the actual map of the facility is drawn in green via an image from google maps. This highlights the discrepancy between the compressed 2D point cloud image and the actual image from google maps.

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