Camera localization of the MIT-PITT-RW Indy Autonomous racecar at the Texas Motor Speedway
Camera localization of the racecar is shown alongside current feature observations and the pre-built map of the Texas Motor Speedway, an asphalt 1.5-mile quad oval track in Fort Worth, TX. The map was pre-built using camera data from the autonomous indy car. Localization to the map happens using current camera observations, which are shown in the images and in a local view on the bottom of the screen. Localization occurs at 50-100Hz with <10ms latency, with accuracy of approximately 1-2cm and <1mRadian.