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radar_threshold_filter#

radar_threshold_filter_node#

Remove noise from radar return by threshold.

  • Amplitude filter: Low amplitude consider noise
  • FOV filter: Pointcloud from radar's FOV edge occur perturbation
  • Range filter: Too near pointcloud often occur noise

Calculation cost is O(n). n is the number of radar return.

Input topics#

Name Type Description
input/radar radar_msgs/msg/RadarScan.msg Radar pointcloud data

Output topics#

Name Type Description
output/radar radar_msgs/msg/RadarScan.msg Filtered radar pointcloud

Parameters#

  • For node parameter
Name Type Description
is_amplitude_filter bool if this parameter is true, apply amplitude filter (publish amplitude_min < amplitude < amplitude_max)
amplitude_min double [dBm^2]
amplitude_max double [dBm^2]
is_range_filter bool if this parameter is true, apply range filter (publish range_min < range < range_max)
range_min double [m]
range_max double [m]
is_azimuth_filter bool if this parameter is true, apply angle filter (publish azimuth_min < range < azimuth_max)
azimuth_min double [rad]
azimuth_max double [rad]
is_z_filter bool if this parameter is true, apply z position filter (publish z_min < z < z_max)
z_min double [m]
z_max double [m]

How to launch#

ros2 launch autoware_radar_threshold_filter radar_threshold_filter.launch.xml