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autoware_radar_object_tracker#

Purpose#

This package provides a radar object tracking node that processes sequences of detected objects to assign consistent identities to them and estimate their velocities.

Inner-workings / Algorithms#

This radar object tracker is a combination of data association and tracking algorithms.

Data Association#

The data association algorithm matches detected objects to existing tracks.

Tracker Models#

The tracker models used in this package vary based on the class of the detected object. See more details in the models.md.

Inputs / Outputs#

Input#

Name Type Description
~/input autoware_perception_msgs::msg::DetectedObjects Detected objects
/vector/map autoware_map_msgs::msg::LaneletMapBin Map data

Output#

Name Type Description
~/output autoware_perception_msgs::msg::TrackedObjects Tracked objects

Parameters#

Name Type Description Default Range
can_assign_matrix array 8x8 assignment matrix (Tracker x Measurement) with 0/1 values [1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1] N/A
max_dist_matrix array 8x8 maximum distance matrix [4.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 4.0, 8.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 4.0, 6.0, 8.0, 8.0, 8.0, 1.0, 1.0, 1.0, 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 3.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0] N/A
max_area_matrix array 8x8 maximum area matrix [100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 12.1, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 36.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 60.0, 12.1, 36.0, 60.0, 60.0, 10000.0, 10000.0, 10000.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.5, 10000.0, 10000.0, 10000.0, 10000.0, 2.5, 2.5, 1.0, 2.0, 10000.0, 10000.0, 10000.0, 10000.0, 1.5, 1.5, 1.0] N/A
min_area_matrix array 8x8 minimum area matrix [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.6, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 6.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 10.0, 3.6, 6.0, 10.0, 10.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.001, 0.0, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1] N/A
max_rad_matrix array 8x8 maximum radius matrix [3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15] N/A
min_iou_matrix array 8x8 minimum IoU matrix [0.0001, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, -0.1, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.0001] N/A
car_tracker string Tracker type for cars pass_through_tracker N/A
truck_tracker string Tracker type for trucks pass_through_tracker N/A
bus_tracker string Tracker type for buses pass_through_tracker N/A
pedestrian_tracker string Tracker type for pedestrians pass_through_tracker N/A
bicycle_tracker string Tracker type for bicycles pass_through_tracker N/A
motorcycle_tracker string Tracker type for motorcycles pass_through_tracker N/A
Name Type Description Default Range
car_tracker string Tracker type for cars constant_turn_rate_motion_tracker N/A
truck_tracker string Tracker type for trucks constant_turn_rate_motion_tracker N/A
bus_tracker string Tracker type for buses constant_turn_rate_motion_tracker N/A
trailer_tracker string Tracker type for trailers constant_turn_rate_motion_tracker N/A
pedestrian_tracker string Tracker type for pedestrians constant_turn_rate_motion_tracker N/A
bicycle_tracker string Tracker type for bicycles constant_turn_rate_motion_tracker N/A
motorcycle_tracker string Tracker type for motorcycles constant_turn_rate_motion_tracker N/A
Name Type Description Default Range
world_frame_id string The frame ID of the world coordinate. map N/A
tracker_lifetime float The lifetime of the tracker in seconds. 1.0 N/A
measurement_count_threshold integer The number of measurements required to publish an object. 3 N/A
publish_rate float The rate at which to publish the output. 10.0 N/A
enable_delay_compensation boolean Whether to enable delay compensation. True N/A
enable_logging boolean Whether to enable logging. False N/A
logging_file_path string The path to the file where logs should be written. /tmp/association_log.json N/A
use_distance_based_noise_filtering boolean Whether to enable distance-based noise filtering. True N/A
minimum_range_threshold float Minimum distance threshold for filtering in meters. 60.0 N/A
use_map_based_noise_filtering boolean Whether to enable map-based noise filtering. True N/A
max_distance_from_lane float The maximum allowable distance from a lane for filtering, in meters. 5.0 N/A
max_angle_diff_from_lane float The maximum angle difference from a lane for filtering, in radians. 0.785398 N/A
max_lateral_velocity float The maximum lateral velocity for filtering, in meters per second. 7.0 N/A
tracking_config_directory string The directory containing the tracking configuration. $(find-pkg-share radar_object_tracker)/config/tracking/ N/A
Name Type Description Default Range
car_tracker string The tracker type used for cars. pass_through_tracker N/A
truck_tracker string The tracker type used for trucks. pass_through_tracker N/A
bus_tracker string The tracker type used for buses. pass_through_tracker N/A
pedestrian_tracker string The tracker type used for pedestrians. pass_through_tracker N/A
bicycle_tracker string The tracker type used for bicycles. pass_through_tracker N/A
motorcycle_tracker string The tracker type used for motorcycles. pass_through_tracker N/A

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#