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 |