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autoware_radar_tracks_noise_filter#

This package contains a radar object filter module for radar_msgs/msg/RadarTrack. This package can filter noise objects in RadarTracks.

Algorithm#

The core algorithm of this package is RadarTrackCrossingNoiseFilterNode::isNoise() function. See the function and the parameters for details.

  • Y-axis threshold

Radar can detect x-axis velocity as doppler velocity, but cannot detect y-axis velocity. Some radar can estimate y-axis velocity inside the device, but it sometimes lack precision. In y-axis threshold filter, if y-axis velocity of RadarTrack is more than velocity_y_threshold, it treats as noise objects.

Input#

Name Type Description
~/input/tracks radar_msgs/msg/RadarTracks.msg 3D detected tracks.

Output#

Name Type Description
~/output/noise_tracks radar_msgs/msg/RadarTracks.msg Noise objects
~/output/filtered_tracks radar_msgs/msg/RadarTracks.msg Filtered objects

Parameters#

Name Type Description Default value
velocity_y_threshold double Y-axis velocity threshold [m/s]. If y-axis velocity of RadarTrack is more than velocity_y_threshold, it treats as noise objects. 7.0