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feat: add tracking object merger for long range radar sensor #627

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Oct 16, 2023
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feat: add tracking object merger for long range radar sensor #627

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46da97c
add tracking object merger paramters
YoshiRi Oct 9, 2023
cb28725
fix typo
YoshiRi Oct 13, 2023
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27 changes: 27 additions & 0 deletions ...rception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml
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# general parameters for radar_object_tracker node
/**:
ros__parameters:
# basic settings
world_frame_id: "map"
tracker_lifetime: 1.0 # [sec]
# if empty, use default config declared in this package
tracking_config_directory: ""

# delay compensate parameters
publish_rate: 10.0
enable_delay_compensation: false

# logging
enable_logging: false
logging_file_path: "/tmp/association_log.json"

# filtering
## 1. distance based filtering: remove closer objects than this threshold
use_distance_based_noise_filtering: true
minimum_range_threshold: 70.0 # [m]

## 2. lanelet map based filtering
use_map_based_noise_filtering: true
max_distance_from_lane: 5.0 # [m]
max_angle_diff_from_lane: 0.785398 # [rad] (45 deg)
max_lateral_velocity: 5.0 # [m/s]
32 changes: 32 additions & 0 deletions ...tion/object_recognition/tracking/radar_object_tracker/tracking/linear_motion_tracker.yaml
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default:
# This file defines the parameters for the linear motion tracker.
# All this parameter coordinate is assumed to be in the vehicle coordinate system.
# So, the x axis is pointing to the front of the vehicle, y axis is pointing to the left of the vehicle.
ekf_params:
# random walk noise is used to model the acceleration noise
process_noise_std: # [m/s^2]
ax: 0.98 # assume 0.1G acceleration noise
ay: 0.98
vx: 0.1 # assume 0.1m/s velocity noise
vy: 0.1
x: 1.0 # assume 1m position noise
y: 1.0
measurement_noise_std:
x: 0.6 # [m]
y: 0.9 # [m]
vx: 0.4 # [m/s]
vy: 1 # [m/s]
initial_covariance_std:
x: 3.0 # [m]
y: 6.0 # [m]
vx: 1.0 # [m/s]
vy: 5.0 # [m/s]
ax: 0.5 # [m/s^2]
ay: 1.0 # [m/s^2]
# output limitation
limit:
max_speed: 80.0 # [m/s]
# low pass filter is used to smooth the yaw and shape estimation
low_pass_filter:
time_constant: 1.0 # [s]
sampling_time: 0.1 # [s]
168 changes: 168 additions & 0 deletions ...ion/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml
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/**:
ros__parameters:
lidar-lidar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #CAR
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRUCK
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #BUS
5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, #TRAILER
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] #PEDESTRIAN

max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

max_velocity_diff_matrix: # Ignored when value is larger than 100.0
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN

min_iou_matrix: # If value is negative, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #UNKNOWN
0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, #CAR
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRUCK
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #BUS
0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, #TRAILER
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #MOTORBIKE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, #BICYCLE
0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1] #PEDESTRIAN

lidar-radar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN
4.0, 5.5, 6.0, 6.0, 6.0, 1.0, 1.0, 1.0, #CAR
5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRUCK
5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #BUS
5.0, 6.0, 6.5, 6.5, 6.5, 1.0, 1.0, 1.0, #TRAILER
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN

max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

max_velocity_diff_matrix: # Ignored when value is larger than 100.0
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN

min_iou_matrix: # set all value to 0.0 to disable this constraint
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN

radar-radar:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 1, 1, 1, 1, 0, 0, 0, #CAR
0, 1, 1, 1, 1, 0, 0, 0, #TRUCK
0, 1, 1, 1, 1, 0, 0, 0, #BUS
0, 1, 1, 1, 1, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 1, 1, 1, #MOTORBIKE
0, 0, 0, 0, 0, 1, 1, 1, #BICYCLE
0, 0, 0, 0, 0, 1, 1, 1] #PEDESTRIAN

max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[4.0, 4.0, 5.0, 5.0, 5.0, 3.5, 3.5, 3.5, #UNKNOWN
4.0, 7.0, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #CAR
5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRUCK
5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #BUS
5.0, 7.5, 7.5, 7.5, 7.5, 1.0, 1.0, 1.0, #TRAILER
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #MOTORBIKE
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, #BICYCLE
3.5, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.5] #PEDESTRIAN
max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #BUS
3.150, 1.047, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, #TRAILER
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #PEDESTRIAN

max_velocity_diff_matrix: # Ignored when value is larger than 100.0
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #UNKNOWN
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #CAR
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRUCK
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #BUS
100.0, 8.0, 8.0, 8.0, 8.0, 100.0, 100.0, 100.0, #TRAILER
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #MOTORBIKE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0, #BICYCLE
100.0, 100.0,100.0,100.0,100.0, 100.0, 100.0, 100.0] #PEDESTRIAN

min_iou_matrix: # set all value to 0.0 to disable this constraint
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #UNKNOWN
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #CAR
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRUCK
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BUS
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #TRAILER
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #MOTORBIKE
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, #BICYCLE
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #PEDESTRIAN
26 changes: 26 additions & 0 deletions ...n/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml
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# Node parameters
/**:
ros__parameters:
base_link_frame_id: "base_link"
time_sync_threshold: 0.999
sub_object_timeout_sec: 0.8
publish_interpolated_sub_objects: true #for debug

# choose the input sensor type for each object type
# "lidar", "radar", "camera" are available
main_sensor_type: "lidar"
sub_sensor_type: "radar"

# tracker settings
tracker_state_parameter:
remove_probability_threshold: 0.3
publish_probability_threshold: 0.5
default_lidar_existence_probability: 0.7
default_radar_existence_probability: 0.6
default_camera_existence_probability: 0.5
decay_rate: 0.1
max_dt: 1.0

# logging
enable_logging: false
log_file_path: "/tmp/decorative_tracker_merger.log"
16 changes: 16 additions & 0 deletions ...t_recognition/tracking/tracking_object_merger/decorative_tracker_merger_policy.param.yaml
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# Merger policy for decorative tracker merger node
# decorative tracker merger works by merging the sub-object trackers into a main object tracker result
# There are 3 merger policy:
# 1. "skip": skip the sub-object tracker result
# 2. "overwrite": overwrite the main object tracker result with sub-object tracker result
# 3. "fusion": merge the main object tracker result with sub-object tracker result by using covariance based fusion
/**:
ros__parameters:
kinematics_to_be_merged: "velocity" # currently only support "velocity"

# choose the merger policy for each object type
# : "skip", "overwrite", "fusion"
kinematics_merge_policy: "overwrite"
classification_merge_policy: "skip"
existence_prob_merge_policy: "skip"
shape_merge_policy: "skip"
12 changes: 12 additions & 0 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/default_tracker.param.yaml"
/>
<arg
name="object_recognition_tracking_radar_object_tracker_node_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/radar_object_tracker/radar_object_tracker.param.yaml"
/>
<arg
name="object_recognition_tracking_object_merger_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/data_association_matrix.param.yaml"
/>
<arg
name="object_recognition_tracking_object_merger_node_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml"
/>

<!-- obstacle segmentation -->
<arg
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