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object_lanelet_filter#

Purpose#

The object_lanelet_filter is a node that filters detected object by using vector map. The objects only inside of the vector map will be published.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map
input/object autoware_perception_msgs::msg::DetectedObjects input detected objects

Output#

Name Type Description
output/object autoware_perception_msgs::msg::DetectedObjects filtered detected objects

Parameters#

Description of the filter_settings in the parameters of the object_lanelet_filter node.

Name Type Description
debug bool If true, publishes additional debug information, including visualization markers on the ~/debug/marker topic for tools like RViz.
lanelet_extra_margin double If > 0, expands the lanelet polygons used for overlap checks by this margin (in meters). If <= 0, polygon expansion is disabled.
polygon_overlap_filter.enabled bool If true, enables filtering of objects based on their overlap with lanelet polygons.
lanelet_direction_filter.enabled bool If true, enables filtering of objects based on their velocity direction relative to the lanelet.
lanelet_direction_filter.velocity_yaw_threshold double The yaw angle difference threshold (in radians) between the object’s velocity vector and the lanelet direction.
lanelet_direction_filter.object_speed_threshold double The minimum speed (in m/s) of an object required for the direction filter to be applied.
use_height_threshold bool If true, enables filtering of objects based on their height relative to the base_link frame.
max_height_threshold double The maximum allowable height (in meters) of an object relative to the base_link in the map frame.
min_height_threshold double The minimum allowable height (in meters) of an object relative to the base_link in the map frame.

Core Parameters#

Name Type Default Value Description
filter_target_label.UNKNOWN bool false If true, unknown objects are filtered.
filter_target_label.CAR bool false If true, car objects are filtered.
filter_target_label.TRUCK bool false If true, truck objects are filtered.
filter_target_label.BUS bool false If true, bus objects are filtered.
filter_target_label.TRAILER bool false If true, trailer objects are filtered.
filter_target_label.MOTORCYCLE bool false If true, motorcycle objects are filtered.
filter_target_label.BICYCLE bool false If true, bicycle objects are filtered.
filter_target_label.PEDESTRIAN bool false If true, pedestrian objects are filtered.

Assumptions / Known limits#

The lanelet filter is performed based on the shape polygon and bounding box of the objects.

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#