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perf(ndt_scan_matcher): changed default initial_estimate_particles_num to 200 #5220

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SakodaShintaro
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@SakodaShintaro SakodaShintaro commented Oct 4, 2023

Description

In this pull request, I propose to change the default value of initial_estimate_particles_num, mainly because the initial pose estimation at AWSIM Nishi-Shinjuku fails about 10% of the time.

Related link

autowarefoundation/autoware_launch#618

Evaluation

Performed 1000 initial position estimations and recorded TP scores.

initial_estimate_particles_num = 100

launch_histogram_100particles

mean_score: 5.171 ± 1.488

mean_elapsed_time: 0.537 ± 0.036 [sec]

initial_estimate_particles_num = 200

launch_histogram_200particles

mean_score: 5.938 ± 0.911

mean_elapsed_time: 1.073 ± 0.043 [sec]

The TP score improves, but processing time is approximately doubled.

Tests performed

Tested by

  1. logging simulator about the sample rosbag.
  2. AWSIM

Effects on system behavior

Improves the performance of initial position estimation, but it takes more time in default parameters.

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@github-actions github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Oct 4, 2023
@SakodaShintaro SakodaShintaro marked this pull request as ready for review October 4, 2023 05:29
@kminoda kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Oct 4, 2023
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codecov bot commented Oct 4, 2023

Codecov Report

All modified lines are covered by tests ✅

Comparison is base (6155f1f) 14.79% compared to head (271214c) 14.79%.
Report is 2 commits behind head on main.

Additional details and impacted files
@@           Coverage Diff           @@
##             main    #5220   +/-   ##
=======================================
  Coverage   14.79%   14.79%           
=======================================
  Files        1648     1648           
  Lines      113918   113918           
  Branches    35074    35074           
=======================================
  Hits        16859    16859           
  Misses      78135    78135           
  Partials    18924    18924           
Flag Coverage Δ *Carryforward flag
differential 0.00% <ø> (?)
total 14.79% <ø> (ø) Carriedforward from 6155f1f

*This pull request uses carry forward flags. Click here to find out more.

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@SakodaShintaro SakodaShintaro merged commit 9cf1f7c into autowarefoundation:main Oct 4, 2023
35 checks passed
@SakodaShintaro SakodaShintaro deleted the perf/initial_estimate_particles_num_200 branch October 4, 2023 06:14
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023
…um` to 200 (autowarefoundation#5220)

Changed initial_estimate_particles_num to 200

Signed-off-by: Shintaro Sakoda <[email protected]>
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023
…um` to 200 (autowarefoundation#5220)

Changed initial_estimate_particles_num to 200

Signed-off-by: Shintaro Sakoda <[email protected]>
shmpwk pushed a commit to tier4/autoware.universe that referenced this pull request Nov 16, 2023
…um` to 200 (autowarefoundation#5220)

Changed initial_estimate_particles_num to 200

Signed-off-by: Shintaro Sakoda <[email protected]>
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4 participants