This is a visual mapping and localization project construct for autonomous valet parking task based on Baidu Apollo Framework. Contains the following modules.
- Mapping: running offboard
- dumper: convert raw trip data into proto messages
- visual odometry: compute relative poses between frames
- feature extractor: extract features used in parking task
- mapping pipeline: build a consistent map of multi trips
- Localization: running onboard
- graph based localization: multi sensors fusion localization
- visual place recognition: visual relocalization