Perception#
graph TD
cmp_sen("Sensing"):::cls_sen
cmp_loc("Localization"):::cls_loc
cmp_per("Perception"):::cls_per
cmp_plan("Planning"):::cls_plan
msg_img("<font size=2><b>Camera Image</b></font size>
<font size=1>sensor_msgs/Image</font size>"):::cls_sen
msg_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
<font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen
msg_lanenet("<font size=2><b>Lanelet2 Map</b></font size>
<font size=1>autoware_auto_mapping_msgs/HADMapBin</font size>"):::cls_loc
msg_vks("<font size=2><b>Vehicle Kinematic State</b></font size>
<font size=1>nav_msgs/Odometry</font size>"):::cls_loc
msg_obj("<font size=2><b>3D Object Predictions </b></font size>
<font size=1>autoware_auto_perception_msgs/PredictedObjects</font size>"):::cls_per
msg_tl("<font size=2><b>Traffic Light Response </b></font size>
<font size=1>autoware_perception_msgs/TrafficSignalArray</font size>"):::cls_per
msg_tq("<font size=2><b>Traffic Light Query </b></font size>
<font size=1>TBD</font size>"):::cls_plan
cmp_sen --> msg_img --> cmp_per
cmp_sen --> msg_ldr --> cmp_per
cmp_per --> msg_obj --> cmp_plan
cmp_per --> msg_tl --> cmp_plan
cmp_plan --> msg_tq -->cmp_per
cmp_loc --> msg_vks --> cmp_per
cmp_loc --> msg_lanenet --> cmp_per
classDef cmp_sen fill:#F8CECC,stroke:#999,stroke-width:1px;
classDef cls_loc fill:#D5E8D4,stroke:#999,stroke-width:1px;
classDef cls_per fill:#FFF2CC,stroke:#999,stroke-width:1px;
classDef cls_plan fill:#5AB8FF,stroke:#999,stroke-width:1px;
Inputs#
PointCloud#
PointCloud data published by Lidar.
Image#
Image frame captured by camera.
Vehicle kinematic state#
current position of ego, used in traffic signals recognition. See output of Localization.
Lanelet2 Map#
map of the environment. See outputs of Map.
Output#
3D Object Predictions#
3D Objects detected, tracked and predicted by sensor fusing.
- autoware_auto_perception_msgs/msg/PredictedObjects
- std_msgs/Header header
- sequence<autoware_auto_perception_msgs::msg::PredictedObject> objects
- unique_identifier_msgs::msg::UUID uuid
- float existence_probability
- sequence<autoware_auto_perception_msgs::msg::ObjectClassification> classification
- uint8 classification
- float probability
- autoware_auto_perception_msgs::msg::PredictedObjectKinematics kinematics
- geometry_msgs::msg::PoseWithCovariance initial_pose
- geometry_msgs::msg::TwistWithCovariance
- geometry_msgs::msg::AccelWithCovariance initial_acceleration
- sequence<autoware_auto_perception_msgs::msg::PredictedPath, 10> predicted_paths
- sequence<geometry_msgs::msg::Pose, 100> path
- builtin_interfaces::msg::Duration time_step
- float confidence
- sequence<autoware_auto_perception_msgs::msg::Shape, 5> shape
- geometry_msgs::msg::Polygon polygon
- float height
Traffic Signals#
traffic signals recognized by object detection model.
- autoware_perception_msgs::msg::TrafficSignalArray
- autoware_perception_msgs::msg::TrafficSignal signals
- autoware_perception_msgs::msg::TrafficSignalElement elements
- uint8 UNKNOWN = 0
- uint8 Red = 1
- uint8 AMBER = 2
- uint8 WHITE = 4
- uint8 CIRCLE = 1
- uint8 LEFT_ARROW = 2
- uint8 RIGHT_ARROW = 3
- uint8 UP_ARROW = 4
- uint8 UP_LEFT_ARROW=5
- uint8 UP_RIGHT_ARROW=6
- uint8 DOWN_ARROW = 7
- uint8 DOWN_LEFT_ARROW = 8
- uint8 DOWN_RIGHT_ARROW = 9
- uint8 CROSS = 10
- uint8 SOLID_OFF = 1
- uint8 SOLID_ON = 2
- uint8 FLASHING = 3
- uint8 color
- uint8 shape
- uint8 status
- float32 confidence
- int64 traffic_signal_id
- autoware_perception_msgs::msg::TrafficSignalElement elements
- builtin_interfaces::msg::Time stamp
- autoware_perception_msgs::msg::TrafficSignal signals