From 350083c12590235afa13d82fd6347c96fe691daa Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 26 Nov 2024 09:17:26 +0900 Subject: [PATCH] feat(scan_ground_filter): update grid size for ground segmentation (#1223) feat: update grid size for ground segmentation The grid size for ground segmentation has been updated from 0.1 to 0.5. This change improves the performance with the new grid data structure. Signed-off-by: Taekjin LEE --- .../ground_segmentation/ground_segmentation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 0237671ccf..cc7c52ed47 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -24,7 +24,7 @@ use_virtual_ground_point: True split_height_distance: 0.2 non_ground_height_threshold: 0.20 - grid_size_m: 0.1 + grid_size_m: 0.5 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 2.5