autoware_lidar_apollo_instance_segmentation

Purpose

This node segments 3D pointcloud data from lidar sensors into obstacles, e.g., cars, trucks, bicycles, and pedestrians based on CNN based model and obstacle clustering method.

Inner-workings / Algorithms

See the original design by Apollo.

Inputs / Outputs

Input

Output

Parameters

Node Parameters

None

Core Parameters

Assumptions / Known limits

There is no training code for CNN model.

Note

This package makes use of three external codes. The trained files are provided by apollo. The trained files are automatically downloaded when you build.

Original URL

• VLP-16 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne16/deploy.caffemodel
• HDL-64 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne64/deploy.caffemodel
• VLS-128 : https://github.com/ApolloAuto/apollo/raw/91844c80ee4bd0cc838b4de4c625852363c258b5/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne128/deploy.caffemodel

Supported lidars are velodyne 16, 64 and 128, but you can also use velodyne 32 and other lidars with good accuracy.

1. apollo 3D Obstacle Perception description

   /******************************************************************************
   * Copyright 2017 The Apollo Authors. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *****************************************************************************/
   

1. tensorRTWrapper : It is used under the lib directory.

   MIT License

   Copyright (c) 2018 lewes6369

   Permission is hereby granted, free of charge, to any person obtaining a copy
   of this software and associated documentation files (the "Software"), to deal
   in the Software without restriction, including without limitation the rights
   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   copies of the Software, and to permit persons to whom the Software is
   furnished to do so, subject to the following conditions:

   The above copyright notice and this permission notice shall be included in all
   copies or substantial portions of the Software.

   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   SOFTWARE.
   

1. autoware_perception description

   /*
   * Copyright 2018-2019 Autoware Foundation. All rights reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
   

Special thanks

• Apollo Project
• lewes6369
• Autoware Foundation
• Kosuke Takeuchi (TIER IV)

Changelog for package autoware_lidar_apollo_instance_segmentation

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)
• refactor: add autoware_cuda_dependency_meta (#10073)
• Contributors: Esteve Fernandez, 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(autoware_lidar_apollo_instance_segmentation): tier4_debug_msgs to autoware_internal_debug_msgs in files perce… (#9876) feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_lidar_apollo_instance_segmentation Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
• refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (#9762)
  • refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components
  • style(pre-commit): autofix
  • style(autoware_tensorrt_common): linting

  * style(autoware_lidar_centerpoint): typo Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> * docs(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • fix(autoware_lidar_transfusion): reuse cast variable
  • fix(autoware_tensorrt_common): remove deprecated inference API

  * style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> * style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • fix(autoware_tensorrt_common): const pointer
  • fix(autoware_tensorrt_common): remove unused method declaration
  • style(pre-commit): autofix

  * refactor(autoware_tensorrt_common): readability Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>

  • fix(autoware_tensorrt_common): return if layer not registered

  * refactor(autoware_tensorrt_common): readability Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>

  • fix(autoware_tensorrt_common): rename struct

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>> Co-authored-by: Kotaro Uetake <<60615504+ktro2828@users.noreply.github.com>>

• Contributors: Amadeusz Szymko, Fumiya Watanabe, Vishal Chauhan

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• 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)
• fix(cpplint): include what you use - perception (#9569)
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• 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

• fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (#9195)
• refactor(cuda_utils): prefix package and namespace with autoware (#9171)
• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• 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

• fix(autoware_lidar_apollo_instance_segmentation): fix cppcheck suspiciousFloatingPointCast (#9195)
• refactor(cuda_utils): prefix package and namespace with autoware (#9171)
• Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace (#9099)
  • refactor(tensorrt_common)!: fix namespace, directory structure & move to perception namespace
  • refactor(tensorrt_common): directory structure
  • style(pre-commit): autofix

  * fix(tensorrt_common): correct package name for logging ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

• fix(autoware_lidar_apollo_instance_segmentation): added existence probability (#8862)
  • added existence probability

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

• fix(lidar_apollo_instance_segmentation): fix critical bug (#8444) Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>>
• refactor(lidar_apollo_instance_segmentation)!: fix namespace and directory structure (#7995)
  • refactor: add autoware namespace prefix
  • chore: update CODEOWNERS

  * refactor: add [autoware]{.title-ref} prefix ---------

• Contributors: Amadeusz Szymko, Kotaro Uetake, Samrat Thapa, Yutaka Kondo, kminoda

0.26.0 (2024-04-03)