object_merger

Purpose

object_merger is a package for merging detected objects from two methods by data association.

Inner-workings / Algorithms

The successive shortest path algorithm is used to solve the data association problem (the minimum-cost flow problem). The cost is calculated by the distance between two objects and gate functions are applied to reset cost, s.t. the maximum distance, the maximum area and the minimum area.

Inputs / Outputs

Input

Output

Parameters

• object association merger

{{ json_to_markdown(“perception/autoware_object_merger/schema/object_association_merger.schema.json”) }}

• data association matrix

{{ json_to_markdown(“perception/autoware_object_merger/schema/data_association_matrix.schema.json”) }}

• overlapped judge

{{ json_to_markdown(“perception/autoware_object_merger/schema/overlapped_judge.schema.json”) }}

Tips

• False Positive Unknown object detected by clustering method sometimes raises the risk of sudden stop and interferes with Planning module. If ML based detector rarely misses objects, you can tune the parameter of object_merger and make Perception module ignore unknown objects.
  • If you want to remove unknown object close to large vehicle,
    • use HIGH distance_threshold_list
      • However, this causes high computational load
    • use LOW precision_threshold_to_judge_overlapped
    • use LOW generalized_iou_threshold
      • However, these 2 params raise the risk of overlooking object close to known object.

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

Data association algorithm was the same as that of multi_object_tracker, but the algorithm of multi_object_tracker was already updated.

Changelog for package autoware_object_merger

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(autoware_object_merger): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9893) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_object_merger Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>
• fix(perception): fix perception docs (#9766)
  • fix: fix perception docs
  • fix: fix missing parameter in schema

  * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> * Update perception/autoware_object_merger/schema/data_association_matrix.schema.json Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • style(pre-commit): autofix

  * chore: seperate paramters for different nodes ---------Co-authored-by: Taekjin LEE <<technolojin@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (#9733) feat: enable anonymized node names to be configurable
• Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, Yi-Hsiang Fang (Vivid)

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
• 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, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• 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, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
• fix(autoware_object_merger): default merger priority within enum range (#8858) fix: default merger priority within enum range
• fix(object_association_merger_node): fix the frame id of output object msg (#8674) fix: fix the object msg header
• fix(doc, object_merger): fix object merger document path (#8292) fix object merger document path
• fix(autoware_object_merger): fix passedByValue (#8232) fix:passedByValue
• fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (#8137)
  • fix: cppcheck knownConditionTrueFalse
  • fix

  * fix

• refactor(autoware_object_merger): move headers to src and rename package (#7804)
• Contributors: Esteve Fernandez, Ryuta Kambe, Taekjin LEE, Yi-Hsiang Fang (Vivid), Yutaka Kondo, Yuxuan Liu, kobayu858

0.26.0 (2024-04-03)