autoware_occupancy_grid_map_outlier_filter

Purpose

This node is an outlier filter based on a occupancy grid map. Depending on the implementation of occupancy grid map, it can be called an outlier filter in time series, since the occupancy grid map expresses the occupancy probabilities in time series.

Inner-workings / Algorithms

1. Use the occupancy grid map to separate point clouds into those with low occupancy probability and those with high occupancy probability.

2. The point clouds that belong to the low occupancy probability are not necessarily outliers. In particular, the top of the moving object tends to belong to the low occupancy probability. Therefore, if use_radius_search_2d_filter is true, then apply an radius search 2d outlier filter to the point cloud that is determined to have a low occupancy probability.

   1. For each low occupancy probability point, determine the outlier from the radius (radius_search_2d_filter/search_radius) and the number of point clouds. In this case, the point cloud to be referenced is not only low occupancy probability points, but all point cloud including high occupancy probability points.
   2. The number of point clouds can be multiplied by radius_search_2d_filter/min_points_and_distance_ratio and distance from base link. However, the minimum and maximum number of point clouds is limited.

The following video is a sample. Yellow points are high occupancy probability, green points are low occupancy probability which is not an outlier, and red points are outliers. At around 0:15 and 1:16 in the first video, a bird crosses the road, but it is considered as an outlier.

• movie1
• movie2

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json”) }}

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

Changelog for package autoware_occupancy_grid_map_outlier_filter

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_occupancy_grid_map_outlier_filter): tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9894) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files perception/autoware_occupancy_grid_map_outlier_filter Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
• 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>

• Contributors: Fumiya Watanabe, 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)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix(autoware_occupancy_grid_map_outlier_filter): fix bugprone-incorrect-roundings (#9217)
  • fix: bugprone-incorrect-roundings

  * fix: clang-format ---------

• 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, kobayu858

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
• feat(occupancy_grid_map_outlier_filter): add time_keeper (#8597)
  • add time_keeper
  • add option for time keeper
  • add scope and timekeeper
  • remove and add scope and timekeeper
  • remove duplicated
  • add timekeeper option

  * fix comment ---------

• refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (#6745)
  • add param and schema file, edit readme
  • .

  * correct linter errors ---------

• refactor(probabilistic_occupancy_grid_map, occupancy_grid_map_outlier_filter): add autoware_ prefix to package name (#8183)
  • chore: fix package name probabilistic occupancy grid map
  • fix: solve launch error
  • chore: update occupancy_grid_map_outlier_filter
  • style(pre-commit): autofix
  • refactor: update package name to autoware_probabilistic_occupancy_grid_map on a test

  * refactor: rename folder of occupancy_grid_map_outlier_filter ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Taekjin LEE <<taekjin.lee@tier4.jp>>

• Contributors: Masaki Baba, Yoshi Ri, Yutaka Kondo, oguzkaganozt

0.26.0 (2024-04-03)