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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNKNOWN |
| 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
front_vehicle_velocity_estimator
Additional Links
No additional links.
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
| Name | Type | Description |
|---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
| Name | Type | Description |
|---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
| Name | Type | Description | Default value |
|---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
| Name | Type | Description | Default value |
|---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high, the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low, the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity. If $v_{re}$ > threshold_relative_velocity, then $v_{re}$ = threshold_relative_velocity. |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity, then $v_{ae}$ = threshold_absolute_velocity. |
20.0 |
CHANGELOG
No CHANGELOG found.
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.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
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