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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params.
Parameters for sensor fusion
-
bounding_box_margin(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
- Calculation cost is O(nm).
- n: the number of radar objects.
- m: the number of objects from 3d detection.
How to launch
ros2 launch autoware_radar_fusion_to_detected_object radar_object_to_detected_object.launch.xml
Input
-
~/input/objects(autoware_perception_msgs/msg/DetectedObjects.msg)- 3D detected objects.
-
~/input/radar_objects(autoware_perception_msgs/msg/DetectedObjects.msg)- Radar objects. Note that frame_id need to be same as
~/input/objects
- Radar objects. Note that frame_id need to be same as
Output
-
~/output/objects(autoware_perception_msgs/msg/DetectedObjects.msg)- 3D detected object with twist.
-
~/debug/low_confidence_objects(autoware_perception_msgs/msg/DetectedObjects.msg)- 3D detected object that doesn’t output as
~/output/objectsbecause of low confidence
- 3D detected object that doesn’t output as
Parameters
The parameters for core algorithm can be set as node_params.
-
update_rate_hz(double) [hz]- Default parameter is 20.0
This parameter is update rate for the onTimer function.
This parameter should be same as the frame rate of input topics.
Interface for radar_scan_fusion_to_detected_object (TBD)
Under implement
Changelog for package autoware_radar_fusion_to_detected_object
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)
- chore: refine maintainer list
(#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
- Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
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)
- 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
- fix(autoware_radar_fusion_to_detected_object): fix variableScope (#8429) fix:variableScope Co-authored-by: kobayu858 <<129580202+kobayu858@users.noreply.github.com>>
- fix(autoware_radar_fusion_to_detected_object): fix functionConst (#8287) fix:functionConst
- fix(autoware_radar_fusion_to_detected_object): fix warnings of functionStatic (#8052) fix: deal with functionStatic warning
- fix(autoware_radar_fusion_to_detected_object): fix constParameterReference (#8040) fix:constParameterReference
- refactor(radar)!: add package name prefix of autoware_
(#7892)
- refactor: rename radar_object_tracker
- refactor: rename package from radar_object_tracker to autoware_radar_object_tracker
- refactor: rename package from radar_object_clustering to autoware_radar_object_clustering
- refactor: rename package from radar_fusion_to_detected_object to autoware_radar_fusion_to_detected_object
- refactor: rename radar_crossing_objects_noise_filter to autoware_radar_crossing_objects_noise_filter
- refactor: rename object_velocity_splitter to autoware_object_velocity_splitter
- refactor: rename object_range_splitter to autoware_object_range_splitter
* refactor: update readme ---------
- Contributors: Nagi70, Taekjin LEE, Yutaka Kondo, kobayu858, taisa1
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_common | |
| autoware_lint_common | |
| autoware_perception_msgs | |
| autoware_utils | |
| geometry_msgs | |
| message_filters | |
| rclcpp | |
| rclcpp_components |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
| Name | Deps |
|---|---|
| tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]