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autoware_tracking_object_merger package from autoware_universe repo

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autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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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

merge tracking object

Additional Links

No additional links.

Maintainers

  • Yukihiro Saito
  • Yoshi Ri
  • Taekjin Lee

Authors

No additional authors.
perception/autoware_tracking_object_merger/README.md

Tracking Object Merger

Purpose

This package try to merge two tracking objects from different sensor.

Inner-workings / Algorithms

Merging tracking objects from different sensor is a combination of data association and state fusion algorithms.

Detailed process depends on the merger policy.

decorative_tracker_merger

In decorative_tracker_merger, we assume there are dominant tracking objects and sub tracking objects. The name decorative means that sub tracking objects are used to complement the main objects.

Usually the dominant tracking objects are from LiDAR and sub tracking objects are from Radar or Camera.

Here show the processing pipeline.

decorative_tracker_merger

time sync

Sub object(Radar or Camera) often has higher frequency than dominant object(LiDAR). So we need to sync the time of sub object to dominant object.

time sync

data association

In the data association, we use the following rules to determine whether two tracking objects are the same object.

  • gating
    • distance gate: distance between two tracking objects
    • angle gate: angle between two tracking objects
    • mahalanobis_distance_gate: Mahalanobis distance between two tracking objects
    • min_iou_gate: minimum IoU between two tracking objects
    • max_velocity_gate: maximum velocity difference between two tracking objects
  • score
    • score used in matching is equivalent to the distance between two tracking objects

tracklet update

Sub tracking objects are merged into dominant tracking objects.

Depends on the tracklet input sensor state, we update the tracklet state with different rules.

state\priority 1st 2nd 3rd
Kinematics except velocity LiDAR Radar Camera
Forward velocity Radar LiDAR Camera
Object classification Camera LiDAR Radar

tracklet management

We use the existence_probability to manage tracklet.

  • When we create a new tracklet, we set the existence_probability to $p_{sensor}$ value.
  • In each update with specific sensor, we set the existence_probability to $p_{sensor}$ value.
  • When tracklet does not have update with specific sensor, we reduce the existence_probability by decay_rate
  • Object can be published if existence_probability is larger than publish_probability_threshold and time from last update is smaller than max_dt
  • Object will be removed if existence_probability is smaller than remove_probability_threshold and time from last update is larger than max_dt

tracklet_management

These parameter can be set in config/decorative_tracker_merger.param.yaml.

tracker_state_parameter:
  remove_probability_threshold: 0.3
  publish_probability_threshold: 0.6
  default_lidar_existence_probability: 0.7
  default_radar_existence_probability: 0.6
  default_camera_existence_probability: 0.6
  decay_rate: 0.1
  max_dt: 1.0

input/parameters

topic name message type description
~input/main_object autoware_perception_msgs::TrackedObjects Dominant tracking objects. Output will be published with this dominant object stamps.
~input/sub_object autoware_perception_msgs::TrackedObjects Sub tracking objects.
output/object autoware_perception_msgs::TrackedObjects Merged tracking objects.
debug/interpolated_sub_object autoware_perception_msgs::TrackedObjects Interpolated sub tracking objects.

Default parameters are set in config/decorative_tracker_merger.param.yaml.

parameter name description default value
base_link_frame_id base link frame id. This is used to transform the tracking object. “base_link”
time_sync_threshold time sync threshold. If the time difference between two tracking objects is smaller than this value, we consider these two tracking objects are the same object. 0.05
sub_object_timeout_sec sub object timeout. If the sub object is not updated for this time, we consider this object is not exist. 0.5
main_sensor_type main sensor type. This is used to determine the dominant tracking object. “lidar”
sub_sensor_type sub sensor type. This is used to determine the sub tracking object. “radar”
tracker_state_parameter tracker state parameter. This is used to manage the tracklet.  

tuning

As explained in tracklet management, this tracker merger tend to maintain the both input tracking objects.

If there are many false positive tracking objects,

  • decrease default_<sensor>_existence_probability of that sensor
  • increase decay_rate
  • increase publish_probability_threshold to publish only reliable tracking objects

equivalent_tracker_merger

This is future work.

CHANGELOG

Changelog for package autoware_tracking_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_tracking_object_merger)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_tracking_object_merger (#9899)
  • feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable (#9733) feat: enable anonymized node names to be configurable
  • fix(autoware_tracking_object_merger): fix bugprone-branch-clone (#9662)
    • fix: bugprone-error

    * fix: fmt ---------

  • Contributors: Fumiya Watanabe, Taekjin LEE, Vishal Chauhan, kobayu858

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)
  • fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (#9507) fix: clang-diagnostic-sign-conversion
  • fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (#9494)
  • 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, kobayu858

0.39.0 (2024-11-25)

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_tracking_object_merger): fix unusedFunction (#8578) fix:unusedFunction
  • fix(autoware_tracking_object_merger): add merge frame (#8418)
    • fix(autoware_tracking_object_merger): add merge frame

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

  • fix(multi_object_tracker, object_merger, radar_object_tracker, tracking_object_merger): fix knownConditionTrueFalse warnings (#8137)
    • fix: cppcheck knownConditionTrueFalse
    • fix

    * fix

  • refactor(autoware_tracking_object_merger): move headers to include/autoware and rename package (#7809)
  • Contributors: Esteve Fernandez, Kaan Çolak, Ryuta Kambe, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/decorative_tracker_merger.launch.xml
      • node_name [default: $(anon decorative_tracker_merger)]
      • input/main_object [default: main_object]
      • input/sub_object [default: sub_object]
      • output [default: merged_object]
      • data_association_matrix_path [default: $(find-pkg-share autoware_tracking_object_merger)/config/data_association_matrix.param.yaml]
      • merge_options_path [default: $(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml]
      • node_param_file_path [default: $(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_tracking_object_merger at Robotics Stack Exchange

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