have got /solve the first Automation of vehicle

Hi. So I was currently working on lidar SLAM and am having a problem. I was trying to edit the point cloud output from 3d lidar block using a Matlab function block in simulink, but after processing I am unable to return the processed point cloud from the function. It gives an error saying the point cloud is a class object and not a matrix or scalar, hence the problem. In most examples I have looked at, the lidar data has been recorded for the entire scenario beforehand from the simulink model and the slam algorithm is run afterwards separately using pure MATLAB scripts.

Any advice on how I can go about simultaneously getting lidar data and processing it into a map?

The most promising approach I have found yet (from this example : https://in.mathworks.com/help/fusion/ug/tracking-vehicles-using-lidar-in-simulink.html) seems to be to use MATLAB System blocks. But I don't have much experience using systems (only used functions previously) so it may take some time getting used to.

Is this my best bet or is there a better method to process the lidar data into a point cloud in the same Simulink model?

Okay so I have figured it out to some extent using persistent variables and extrinsic functions. Let's see...

I was actually looking at it now. I am glad you solved it, but let us know if there is more.

Let me add some suggestions anyway. After processing, rather than returning the point cloud as an object, you can extract just the XYZ points and have that array as an output. If needed, you can reorganize the point cloud later on. Beside the XYZ points you might need to extract and output some other properties from the same object.

Yeah that's what I ended up doing as well :) Thanks for the tip.

@Krishram97 did you implement orb slam 3 for the INS fusion?

Hello @robertogl ,
Thanks for the directions. I checked on the marketplace but I wasn't able to see the catalogs under Data. I raised a ticket with their support and here's what they had to say about this.

Do you know if we can create a commercial account with Matlab or access an existing account since we're doing the project. Also, can we please schedule a short call with you since the project pipeline is becoming a bit ambiguous for us since we're not sure if we can use the here hdlm. Could we discuss the options to progress for creating the scenario along with GPS data?

Hi @sskulka,
Thank you for letting me know. Let me discuss this internally and see if there is anything we can do about the commercial account. In the meantime let me contact you directly by email.

I suppose the HERE map integration is only optional for the SLAM algorithm right? At least the scenario can be designed using just the 3D environment in Unreal engine. Please correct me if I am mistaken.

You are absolutely right! And thanks for bringing that up.

@AkuG18O2 you're correct...we were initially focusing on the GPS-based localisation through sign matching using the object detection pipeline. There's an interesting matlab reference for that. But we ended up doing slam anyways.

Hi @emcca029,

Are you asking someone in particular? If you are asking me, we have unlimited space :)!

Unity is not supported out of the box. You can use a built-in Unreal support.

Witek

I have started with new build with Automated driving toolbox in MATLAB so I need some time to make it. Please help how to connect unity with MATLAB K R K
---------- Forwarded message --------- From: robertogl @.> Date: Thu, Mar 17, 2022 at 7:00 PM Subject: Re: [mathworks/MathWorks-Excellence-in-Innovation] Autonomous Vehicle Localization Using Onboard Sensors and HD Geolocated Maps (Project 20) (Discussion #3) To: mathworks/MathWorks-Excellence-in-Innovation < @.> Cc: Krishram_97 @.>, Comment @.
Hello @AkuG18O2 https://github.com/AkuG18O2, Great to hear you will be working on this project! We have a large number of examples https://www.mathworks.com/help/driving/examples.html shipped with the Automated Driving Toolbox that tackle different challenges of autonomous vehicles. You can start by getting familiar with the ones that are closer to the approach you are adopting and even use one of them as your starting point. Please let us know if you need anything else. Have fun! — Reply to this email directly, view it on GitHub <#3 (reply in thread)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ALKCRBI2JNSV2CZVPQH7JOLVAMXYZANCNFSM4ZNHA7OQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub. You are receiving this because you commented.Message ID: <mathworks/MathWorks-Excellence-in-Innovation/repo-discussions/3/comments/2380808 @github.com>

Hi @Hazem-M-Abdelaziz,
Sorry for the late response, I sent you an email regarding this. Let's hope we can fix this issue.
Cheers!