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autoware_detection_by_tracker package from autoware_universe repo

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autoware_map_height_fitter autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation 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autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_run_out_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter 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autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.44.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ROS 2 autoware_detection_by_tracker package

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Yoshi Ri
  • Taekjin Lee

Authors

No additional authors.
perception/autoware_detection_by_tracker/README.md

autoware_detection_by_tracker

Purpose

This package feeds back the tracked objects to the detection module to keep it stable and keep detecting objects. purpose

The autoware detection by tracker takes as input an unknown object containing a cluster of points and a tracker. The unknown object is optimized to fit the size of the tracker so that it can continue to be detected.

Inner-workings / Algorithms

The autoware detection by tracker receives an unknown object containing a point cloud and a tracker, where the unknown object is mainly shape-fitted using euclidean clustering. Shape fitting using euclidean clustering and other methods has a problem called under segmentation and over segmentation.

segmentation_fail Adapted from [3]

Simply looking at the overlap between the unknown object and the tracker does not work. We need to take measures for under segmentation and over segmentation.

Policy for dealing with over segmentation

  1. Merge the unknown objects in the tracker as a single object.
  2. Shape fitting using the tracker information such as angle and size as reference information.

Policy for dealing with under segmentation

  1. Compare the tracker and unknown objects, and determine that those with large recall and small precision are under segmented objects.
  2. In order to divide the cluster of under segmented objects, it iterate the parameters to make small clusters.
  3. Adjust the parameters several times and adopt the one with the highest IoU.

Inputs / Outputs

Input

Name Type Description
~/input/initial_objects tier4_perception_msgs::msg::DetectedObjectsWithFeature unknown objects
~/input/tracked_objects tier4_perception_msgs::msg::TrackedObjects trackers

Output

Name Type Description
~/output autoware_perception_msgs::msg::DetectedObjects objects

Parameters

Name Type Description Default value
tracker_ignore_label.UNKNOWN bool If true, the node will ignore the tracker if its label is unknown. true
tracker_ignore_label.CAR bool If true, the node will ignore the tracker if its label is CAR. false
tracker_ignore_label.PEDESTRIAN bool If true, the node will ignore the tracker if its label is pedestrian. false
tracker_ignore_label.BICYCLE bool If true, the node will ignore the tracker if its label is bicycle. false
tracker_ignore_label.MOTORCYCLE bool If true, the node will ignore the tracker if its label is MOTORCYCLE. false
tracker_ignore_label.BUS bool If true, the node will ignore the tracker if its label is bus. false
tracker_ignore_label.TRUCK bool If true, the node will ignore the tracker if its label is truck. false
tracker_ignore_label.TRAILER bool If true, the node will ignore the tracker if its label is TRAILER. false

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

[1] M. Himmelsbach, et al. “Tracking and classification of arbitrary objects with bottom-up/top-down detection.” (2012).

[2] Arya Senna Abdul Rachman, Arya. “3D-LIDAR Multi Object Tracking for Autonomous Driving: Multi-target Detection and Tracking under Urban Road Uncertainties.” (2017).

[3] David Held, et al. “A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues.” (2016).

(Optional) Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_detection_by_tracker

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9880) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_detection_by_tracker Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
  • Contributors: Fumiya Watanabe, Vishal Chauhan

0.40.0 (2024-12-12)

  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • feat(autoware_shape_estimation): add reference object based corrector (#9148)
    • add object based corrector
    • apply cppcheck suggestion

    * fix typo ---------Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

  • refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
  • fix(autoware_detection_by_tracker): fix cppcheck warning of functionStatic (#8257) fix: deal with functionStatic warnings Co-authored-by: Yi-Hsiang Fang (Vivid) <<146902905+vividf@users.noreply.github.com>>
  • refactor(shape_estimation): add package name prefix of autoware_ (#7999)
    • refactor(shape_estimation): add package name prefix of autoware_
    • style(pre-commit): autofix
    • fix: mising prefix

    * fix: cmake ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_detection_by_tracker): fix funcArgNamesDifferent (#8076)
    • fix:funcArgNamesDifferent

    * fix:funcArgNamesDifferent ---------

  • refactor(euclidean_cluster): add package name prefix of autoware_ (#8003)
    • refactor(euclidean_cluster): add package name prefix of autoware_

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor(detection_by_tracker): add package name prefix of autoware_ (#7998)
  • Contributors: Esteve Fernandez, Masaki Baba, Yutaka Kondo, badai nguyen, kobayu858, taisa1

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/detection_by_tracker.launch.xml
      • input/tracked_objects [default: /perception/object_recognition/tracking/objects]
      • input/initial_objects [default: /perception/object_recognition/detection/clustering/objects_with_feature]
      • output [default: objects]
      • detection_by_tracker_param_path [default: $(find-pkg-share autoware_detection_by_tracker)/config/detection_by_tracker.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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