autoware_radar_object_clustering

This package contains a radar object clustering for autoware_perception_msgs/msg/DetectedObject input.

This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by radar_tracks_msgs_converter and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size.

Design

Background

In radars with object output, there are cases that multiple detection results are obtained from one object, especially for large vehicles such as trucks and trailers. Its multiple detection results cause separation of objects in tracking module. Therefore, by this package the multiple detection results are clustered into one object in advance.

Algorithm

1. Sort by distance from base_link

At first, to prevent changing the result from depending on the order of objects in DetectedObjects, input objects are sorted by distance from base_link. In addition, to apply matching in closeness order considering occlusion, objects are sorted in order of short distance in advance.

2. Clustering

If two radar objects are near, and yaw angle direction and velocity between two radar objects is similar (the degree of these is defined by parameters), then these are clustered. Note that radar characteristic affect parameters for this matching. For example, if resolution of range distance or angle is low and accuracy of velocity is high, then distance_threshold parameter should be bigger and should set matching that strongly looks at velocity similarity.

After grouping for all radar objects, if multiple radar objects are grouping, the kinematics of the new clustered object is calculated from average of that and label and shape of the new clustered object is calculated from top confidence in radar objects.

3. Fixed label correction

When the label information from radar outputs lack accuracy, is_fixed_label parameter is recommended to set true. If the parameter is true, the label of a clustered object is overwritten by the label set by fixed_label parameter. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to VEHICLE.

4. Fixed size correction

When the size information from radar outputs lack accuracy, is_fixed_size parameter is recommended to set true. If the parameter is true, the size of a clustered object is overwritten by the label set by size_x, size_y, and size_z parameters. If this package use for faraway dynamic object detection with radar, the parameter is recommended to set to size_x, size_y, size_z, as average of vehicle size. Note that to use for multi_objects_tracker, the size parameters need to exceed min_area_matrix parameters of it.

Limitation

For now, size estimation for clustered object is not implemented. So is_fixed_size parameter is recommended to set true, and size parameters is recommended to set to value near to average size of vehicles.

Interface

Input

• ~/input/objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Radar objects

Output

• ~/output/objects (autoware_perception_msgs/msg/DetectedObjects.msg)
  • Output objects

Parameter

{{ json_to_markdown(“perception/autoware_radar_object_clustering/config/radar_object_clustering.param.yaml/schema/radar_object_clustering.schema.json”) }}

Changelog for package autoware_radar_object_clustering

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 ---------

• feat(radar_object_clustering): created schema file and updated readme file for parameters settings (#9966)
  • feat: created schema files and upadted Readme file , yaml files
  • style(pre-commit): autofix

  * Update README.md Update README file ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Shunsuke Miura, Vishal Chauhan, 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)

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)
• docs: update the list styles (#9555)
• 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)
• refactor(radar_tracks_msgs_converter, simple_object_merger, radar_tracks_noise_filter)!: add package name prefix of autoware_ (#8173)
  • refactor: rename radar_tracks_msgs_converter package to autoware_radar_tracks_msgs_converter
  • refactor: rename simple_object_merger package to autoware_simple_object_merger

  * refactor: rename sensing/radar_tracks_noise_filter to sensing/autoware_radar_tracks_noise_filter ---------

• fix(autoware_radar_object_clustering): fix funcArgNamesDifferent (#8014)
  • fix:funcArgNamesDifferent

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

• refactor(multi_object_tracker)!: add package name prefix of autoware_ (#8083)
  • refactor: rename multi_object_tracker package to autoware_multi_object_tracker

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

• 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: Esteve Fernandez, Taekjin LEE, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)