The package provides two types of localizations:

  1. Extended Kalman filter: Fuses GNSS and IMU data for decimeter level accuracy in simulation.
  2. NDT Matching: Pylot does not implement NDT matching, but instead provides and operator that bridges between the Autoware’s NDT matching implentation and the pipeline. This operator can be used on real-world vehicles on which Autoware’s NDT matching is deployed.

Important flags

  • --localization: Enables the localization component of the pipeline. If this flag is False, then the pipeline uses the perfect localization it receives from the simulator.

More information

See the reference for more information.