HD Map Handbook

Back Matter

Index

The terms this book thinks are worth remembering, and the chapters that explain them. A term is indexed because the author decided it was noteworthy, not because it appears often. Use it when you know what you are looking for, or when you want to see what the book considers load-bearing.

278 terms tagged across 29 chapters

2

2.5D representation

From Point Clouds to Drivable PhysicsPart IV · Ch 15

3

3D model

The Many Maps of the Same PlacePart I · Ch 3

A

absolute accuracy

Ground ControlPart III · Ch 9

accuracy envelope

Map-Based LocalizationPart III · Ch 12

adjacency

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

adjacency relation

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

Apollo

How Autonomous Vehicles Use MapsPart VII · Ch 32

area

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

area subtype

When the Map Breaks the RobotPart VII · Ch 36

ASAM OpenDRIVE

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

Autoware

What Is an HD Map?Part I · Ch 1How Robots Understand PlacesPart I · Ch 2The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18How Autonomous Vehicles Use MapsPart VII · Ch 32

Autoware Foundation

How Autonomous Vehicles Use MapsPart VII · Ch 32

autoware_lanelet2_extension

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21

autoware_map_loader

The Autoware Map LoaderPart VII · Ch 33

axis swap

Geographic and Projected Coordinate SystemsPart II · Ch 6

B

background subtraction

Where Am I? What’s Around Me?Part VII · Ch 34

Baidu Apollo

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

behavior path planner

The Behavior Path PlannerPart VII · Ch 35

behavioral constraints

The Same Object in Multiple RepresentationsPart IV · Ch 13

behavioral contract

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

boresighting

Field CapturePart III · Ch 8

boundary misalignment

When the Map Breaks the RobotPart VII · Ch 36

C

CARLA

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

carrier phase

Ground ControlPart III · Ch 9

center_line_resolution

The Autoware Map LoaderPart VII · Ch 33

centerline

How Autonomous Vehicles Use MapsPart VII · Ch 32

CenterPoint

Where Am I? What’s Around Me?Part VII · Ch 34

cloth simulation filtering

Scan ProcessingPart III · Ch 10

clothoid

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

combined scale factor

Geographic and Projected Coordinate SystemsPart II · Ch 6

conflicting

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

conflicting relation

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

controlled environments

How Robots Understand PlacesPart I · Ch 2

coordinate system

Coordinates, Frames, and Reference SystemsPart II · Ch 5

curb strike

When the Map Breaks the RobotPart VII · Ch 36

custom site assets

The Same Object in Multiple RepresentationsPart IV · Ch 13

D

data-integrity constraint

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

datum

Geographic and Projected Coordinate SystemsPart II · Ch 6

datum mismatch

Geographic and Projected Coordinate SystemsPart II · Ch 6The Global Alignment: Reality Meets ReferencePart IV · Ch 17

datum transform

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

dead reckoning

Map-Based LocalizationPart III · Ch 12Where Am I? What’s Around Me?Part VII · Ch 34

debugging protocol

When the Map Breaks the RobotPart VII · Ch 36

detection area

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22How Autonomous Vehicles Use MapsPart VII · Ch 32

differential GNSS

LiDAR and Spatial MapsPart III · Ch 7

differential loading

The Autoware Map LoaderPart VII · Ch 33

digital twin

The Many Maps of the Same PlacePart I · Ch 3

direct methods

LiDAR and Spatial MapsPart III · Ch 7

DMI

Ground ControlPart III · Ch 9

drive-by-wire

The Behavior Path PlannerPart VII · Ch 35

E

E57

LiDAR and Spatial MapsPart III · Ch 7

easting

Coordinates, Frames, and Reference SystemsPart II · Ch 5Geographic and Projected Coordinate SystemsPart II · Ch 6

ele attribute

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

elevation factor

Geographic and Projected Coordinate SystemsPart II · Ch 6

ellipsoid

Geographic and Projected Coordinate SystemsPart II · Ch 6

ENU

Coordinates, Frames, and Reference SystemsPart II · Ch 5

EPSG code

Coordinates, Frames, and Reference SystemsPart II · Ch 5The Global Alignment: Reality Meets ReferencePart IV · Ch 17

explicit dual border

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

exteroceptive sensors

LiDAR and Spatial MapsPart III · Ch 7

F

fallback behavior

When the Map Breaks the RobotPart VII · Ch 36

false positive

The Art of Spatial SegmentationPart IV · Ch 16

featureless corridors

Map-Based LocalizationPart III · Ch 12

feed-forward logic

From Point Clouds to Drivable PhysicsPart IV · Ch 15

fitness threshold

The Art of Spatial SegmentationPart IV · Ch 16

fixed landmarks

Map-Based LocalizationPart III · Ch 12

floating vector

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

floating-map problem

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

G

geographic coordinate system

Geographic and Projected Coordinate SystemsPart II · Ch 6

geographic map

The Many Maps of the Same PlacePart I · Ch 3

geometric adjacency

When the Map Breaks the RobotPart VII · Ch 36

georeferencing

Scan ProcessingPart III · Ch 10Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

ghost slowdown

When the Map Breaks the RobotPart VII · Ch 36

ghost stop

When the Map Breaks the RobotPart VII · Ch 36

global localization

Map-Based LocalizationPart III · Ch 12

global reference frame

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

GNSS

From Physical World to Autonomous MachinePart I · Ch 4

goal Planner

The Behavior Path PlannerPart VII · Ch 35

GPS

From Physical World to Autonomous MachinePart I · Ch 4

grid coordinates

Coordinates, Frames, and Reference SystemsPart II · Ch 5

grid factor

Geographic and Projected Coordinate SystemsPart II · Ch 6

grid vs. ground mismatch

Geographic and Projected Coordinate SystemsPart II · Ch 6

ground control points

Ground ControlPart III · Ch 9Simultaneous Localization and MappingPart III · Ch 11The HD Mapping Workflow and ValidationPart VI · Ch 24

ground coordinates

Coordinates, Frames, and Reference SystemsPart II · Ch 5

ground filtering

Scan ProcessingPart III · Ch 10

ground mesh

From Point Clouds to Drivable PhysicsPart IV · Ch 15

ground removal

Where Am I? What’s Around Me?Part VII · Ch 34

ground truth

What Is an HD Map?Part I · Ch 1From Physical World to Autonomous MachinePart I · Ch 4

ground truth layer

The Same Object in Multiple RepresentationsPart IV · Ch 13

grounding problem

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

H

Harbor Yard

What Is an HD Map?Part I · Ch 1The Same Object in Multiple RepresentationsPart IV · Ch 13

hardening

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21

HD map

What Is an HD Map?Part I · Ch 1

height attribute

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

HERE

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

high-intensity returns

The Same Object in Multiple RepresentationsPart IV · Ch 13

I

ICP

Scan ProcessingPart III · Ch 10Map-Based LocalizationPart III · Ch 12The Art of Spatial SegmentationPart IV · Ch 16

implicit centerline

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

IMU

LiDAR and Spatial MapsPart III · Ch 7Simultaneous Localization and MappingPart III · Ch 11Where Am I? What’s Around Me?Part VII · Ch 34

indirect methods

LiDAR and Spatial MapsPart III · Ch 7

intensity

LiDAR and Spatial MapsPart III · Ch 7

intensity ghosting

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

internal consistency

Simultaneous Localization and MappingPart III · Ch 11

K

Karlsruhe Institute of Technology

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

kidnapped robot problem

Map-Based LocalizationPart III · Ch 12

kinematics fusion filter

Where Am I? What’s Around Me?Part VII · Ch 34

L

lane Change

The Behavior Path PlannerPart VII · Ch 35

lane Following

The Behavior Path PlannerPart VII · Ch 35

lanelet

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

Lanelet2

What Is an HD Map?Part I · Ch 1The Many Maps of the Same PlacePart I · Ch 3The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19The HD Mapping Workflow and ValidationPart VI · Ch 24How Autonomous Vehicles Use MapsPart VII · Ch 32

Lanelet2 library

The Autoware Map LoaderPart VII · Ch 33

lanelet2_map_tile_generator

The Autoware Map LoaderPart VII · Ch 33

LaneletMapBin

The Autoware Map LoaderPart VII · Ch 33

LAS

The HD Mapping Workflow and ValidationPart VI · Ch 24

LAS / LAZ

LiDAR and Spatial MapsPart III · Ch 7

lever arm

Field CapturePart III · Ch 8

LiDAR

LiDAR and Spatial MapsPart III · Ch 7The Same Object in Multiple RepresentationsPart IV · Ch 13

lineString

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21The HD Mapping Workflow and ValidationPart VI · Ch 24

local frame

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

local localization

Map-Based LocalizationPart III · Ch 12

local site frame

Coordinates, Frames, and Reference SystemsPart II · Ch 5

local_x

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

local_y

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

localization

How Robots Understand PlacesPart I · Ch 2Map-Based LocalizationPart III · Ch 12The Art of Spatial SegmentationPart IV · Ch 16

localization contract

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

localization drift

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

longitudinal velocity

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

loop closure

Field CapturePart III · Ch 8Simultaneous Localization and MappingPart III · Ch 11

M

machine-readable

What Is an HD Map?Part I · Ch 1

map frame

Coordinates, Frames, and Reference SystemsPart II · Ch 5

map is not the territory

What Is an HD Map?Part I · Ch 1

map loader

The Autoware Map LoaderPart VII · Ch 33

map quality feedback loop

Map-Based LocalizationPart III · Ch 12

map_projection_loader

How Autonomous Vehicles Use MapsPart VII · Ch 32The Autoware Map LoaderPart VII · Ch 33

map_projector_info

The Autoware Map LoaderPart VII · Ch 33

map-centric autonomy

How Robots Understand PlacesPart I · Ch 2

material ID

From Point Clouds to Drivable PhysicsPart IV · Ch 15

MGRS

Coordinates, Frames, and Reference SystemsPart II · Ch 5The Autoware Map LoaderPart VII · Ch 33

minimal risk maneuver

The Behavior Path PlannerPart VII · Ch 35

mission planner

The Behavior Path PlannerPart VII · Ch 35

motion

From Physical World to Autonomous MachinePart I · Ch 4

motion artifacts

Scan ProcessingPart III · Ch 10

motion planner

From Point Clouds to Drivable PhysicsPart IV · Ch 15The Behavior Path PlannerPart VII · Ch 35

multi-object tracker

Where Am I? What’s Around Me?Part VII · Ch 34

multipath

Ground ControlPart III · Ch 9

N

NAD27

Geographic and Projected Coordinate SystemsPart II · Ch 6

NAD83

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

navigable graph

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

NDS.Live

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

NDT

Map-Based LocalizationPart III · Ch 12The Art of Spatial SegmentationPart IV · Ch 16

NDT scan matcher

The Autoware Map LoaderPart VII · Ch 33

NDT scan matching

Where Am I? What’s Around Me?Part VII · Ch 34

NED

Coordinates, Frames, and Reference SystemsPart II · Ch 5

node

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

node merge

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

node sharing

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

non-drivable area

When the Map Breaks the RobotPart VII · Ch 36

normal vector

From Point Clouds to Drivable PhysicsPart IV · Ch 15

northing

Geographic and Projected Coordinate SystemsPart II · Ch 6

Null Island

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

O

oblate spheroid

Geographic and Projected Coordinate SystemsPart II · Ch 6

obstacle segmentation

Where Am I? What’s Around Me?Part VII · Ch 34

occupancy grid

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18Where Am I? What’s Around Me?Part VII · Ch 34

OctoMap

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

OpenDRIVE

The Many Maps of the Same PlacePart I · Ch 3The HD Mapping Workflow and ValidationPart VI · Ch 24How Autonomous Vehicles Use MapsPart VII · Ch 32

OpenStreetMap

The Many Maps of the Same PlacePart I · Ch 3OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14How Autonomous Vehicles Use MapsPart VII · Ch 32

OpenUSD

The Many Maps of the Same PlacePart I · Ch 3The Same Object in Multiple RepresentationsPart IV · Ch 13

orphan lanelet

The HD Mapping Workflow and ValidationPart VI · Ch 24

orphaned regulatory element

When the Map Breaks the RobotPart VII · Ch 36

OSM Ref layer

The Same Object in Multiple RepresentationsPart IV · Ch 13

OSM wiki

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

OSM XML

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19The HD Mapping Workflow and ValidationPart VI · Ch 24How Autonomous Vehicles Use MapsPart VII · Ch 32

P

PCD

LiDAR and Spatial MapsPart III · Ch 7The HD Mapping Workflow and ValidationPart VI · Ch 24

pedestrian_lane

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21

perception

How Robots Understand PlacesPart I · Ch 2

phantom emergency stop

From Point Clouds to Drivable PhysicsPart IV · Ch 15

phantom points

Scan ProcessingPart III · Ch 10

physical anchor

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

physical layer

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

PlannerData

The Behavior Path PlannerPart VII · Ch 35

planning

How Robots Understand PlacesPart I · Ch 2From Physical World to Autonomous MachinePart I · Ch 4

planning jitter

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

point

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

point cloud

What Is an HD Map?Part I · Ch 1The Many Maps of the Same PlacePart I · Ch 3LiDAR and Spatial MapsPart III · Ch 7From Point Clouds to Drivable PhysicsPart IV · Ch 15

point cloud segmentation

The Art of Spatial SegmentationPart IV · Ch 16

point density

LiDAR and Spatial MapsPart III · Ch 7

pointcloud map

Where Am I? What’s Around Me?Part VII · Ch 34

pose

Map-Based LocalizationPart III · Ch 12

pose estimator

Where Am I? What’s Around Me?Part VII · Ch 34

PPK

Ground ControlPart III · Ch 9

precision

What Is an HD Map?Part I · Ch 1Ground ControlPart III · Ch 9

predecessor

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

projected coordinate system

Geographic and Projected Coordinate SystemsPart II · Ch 6

projection shift

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

proprioceptive sensors

LiDAR and Spatial MapsPart III · Ch 7

R

reality scan

The Same Object in Multiple RepresentationsPart IV · Ch 13

reference layer

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

reference line

How Autonomous Vehicles Use MapsPart VII · Ch 32

reflection artifacts

Scan ProcessingPart III · Ch 10

refline

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22The Autoware Map LoaderPart VII · Ch 33When the Map Breaks the RobotPart VII · Ch 36

regElem

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

registered point cloud

Simultaneous Localization and MappingPart III · Ch 11

registration

Scan ProcessingPart III · Ch 10

regulatory element

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22The HD Mapping Workflow and ValidationPart VI · Ch 24How Autonomous Vehicles Use MapsPart VII · Ch 32

relation

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

relational layer

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

relative accuracy

Ground ControlPart III · Ch 9

representation

From Physical World to Autonomous MachinePart I · Ch 4

request to Cooperate

The Behavior Path PlannerPart VII · Ch 35

residual

Scan ProcessingPart III · Ch 10

rigid transform

Scan ProcessingPart III · Ch 10Map-Based LocalizationPart III · Ch 12

road_shoulder

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21

ROS 2

How Robots Understand PlacesPart I · Ch 2

routing graph

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

RTK

Ground ControlPart III · Ch 9Simultaneous Localization and MappingPart III · Ch 11

rules

From Physical World to Autonomous MachinePart I · Ch 4

rules and access

How Robots Understand PlacesPart I · Ch 2

rules and topology

What Is an HD Map?Part I · Ch 1

S

scaling point

Coordinates, Frames, and Reference SystemsPart II · Ch 5

scan matcher

The Art of Spatial SegmentationPart IV · Ch 16

scan matching

Map-Based LocalizationPart III · Ch 12

scene module

The Behavior Path PlannerPart VII · Ch 35

semantic road network

The Many Maps of the Same PlacePart I · Ch 3

semantics

What Is an HD Map?Part I · Ch 1From Physical World to Autonomous MachinePart I · Ch 4

sensor frame

Coordinates, Frames, and Reference SystemsPart II · Ch 5

sensor mismatch

Grounding the Path: Tracing Reality in the PointcloudPart V · Ch 20

sensor noise

Scan ProcessingPart III · Ch 10

Shapefile

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

silent non-compliance

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

SLAM

Simultaneous Localization and MappingPart III · Ch 11The HD Mapping Workflow and ValidationPart VI · Ch 24

SLAM Handbook

Simultaneous Localization and MappingPart III · Ch 11

snap-to-surface tracing

The HD Mapping Workflow and ValidationPart VI · Ch 24

spatial anchor

The Art of Spatial SegmentationPart IV · Ch 16

speed limit

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

standard lines

Geographic and Projected Coordinate SystemsPart II · Ch 6

static Obstacle Avoidance

The Behavior Path PlannerPart VII · Ch 35

statistical outlier filter

Scan ProcessingPart III · Ch 10

stop line

Behavioral Contracts: Regulatory Elements and Site PolicyPart V · Ch 22

successor

Lanelet2 Primitives and Regulatory ElementsPart V · Ch 19

successor relation

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

surface continuity

From Point Clouds to Drivable PhysicsPart IV · Ch 15

survey nails

Ground ControlPart III · Ch 9

T

tag

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

Tesla FSD

How Autonomous Vehicles Use MapsPart VII · Ch 32

time-of-flight

LiDAR and Spatial MapsPart III · Ch 7

TomTom

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

topological graph

The HD Mapping Workflow and ValidationPart VI · Ch 24

topology

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

topology gap

When the Map Breaks the RobotPart VII · Ch 36

total station

From Physical World to Autonomous MachinePart I · Ch 4

traction estimate

From Point Clouds to Drivable PhysicsPart IV · Ch 15

traffic light recognizer

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21

trajectory drift

Simultaneous Localization and MappingPart III · Ch 11

trajectory follower

The Behavior Path PlannerPart VII · Ch 35

TransFusion-L

Where Am I? What’s Around Me?Part VII · Ch 34

Transverse Mercator

The Autoware Map LoaderPart VII · Ch 33

triangulation

Map-Based LocalizationPart III · Ch 12

turn_direction

Autoware Extensions: Hardening the Map for AutonomyPart V · Ch 21Topology and Intersections: Building the Navigable GraphPart V · Ch 23

twist-acceleration estimator

Where Am I? What’s Around Me?Part VII · Ch 34

U

unit confusion

Geographic and Projected Coordinate SystemsPart II · Ch 6

unknown space

When the Map Breaks the RobotPart VII · Ch 36

UTM

Coordinates, Frames, and Reference SystemsPart II · Ch 5Geographic and Projected Coordinate SystemsPart II · Ch 6The HD Mapping Workflow and ValidationPart VI · Ch 24

UTM projection

The Global Alignment: Reality Meets ReferencePart IV · Ch 17

UTM zone

Geographic and Projected Coordinate SystemsPart II · Ch 6The Global Alignment: Reality Meets ReferencePart IV · Ch 17

V

validation

From Physical World to Autonomous MachinePart I · Ch 4

vector layer

What Is an HD Map?Part I · Ch 1The HD Mapping Workflow and ValidationPart VI · Ch 24

vector map

The Same Object in Multiple RepresentationsPart IV · Ch 13

vehicle command gate

The Behavior Path PlannerPart VII · Ch 35

vehicle frame

Coordinates, Frames, and Reference SystemsPart II · Ch 5

velocity planner

The Behavior Path PlannerPart VII · Ch 35

virtual lanelet

Topology and Intersections: Building the Navigable GraphPart V · Ch 23

virtual stop line

How Autonomous Vehicles Use MapsPart VII · Ch 32

voxel grid

The Vector Survey: Choosing Autoware Lanelet2Part V · Ch 18

W

way

OpenStreetMap: The World’s Tracing LayerPart IV · Ch 14

Waymo

How Autonomous Vehicles Use MapsPart VII · Ch 32

waypoints tag

The Autoware Map LoaderPart VII · Ch 33

WGS84

Coordinates, Frames, and Reference SystemsPart II · Ch 5Geographic and Projected Coordinate SystemsPart II · Ch 6The Global Alignment: Reality Meets ReferencePart IV · Ch 17

wheel odometry

Where Am I? What’s Around Me?Part VII · Ch 34

world frame

Coordinates, Frames, and Reference SystemsPart II · Ch 5

Z

zero-velocity constraint

When the Map Breaks the RobotPart VII · Ch 36
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