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Sensing & Perception#

The sensing-perception image packages sensor preprocessing and environment understanding into one build target.

Sensing#

  • LiDAR distortion correction, filtering, and point cloud preprocessing
  • Camera and radar preprocessing
  • GNSS/INS preprocessing
  • Shared point cloud container
  • Launch file: tier4_sensing_component.launch.xml

Perception#

  • Camera, LiDAR, and radar object detection and fusion
  • Multi-object tracking and trajectory prediction
  • Traffic light recognition
  • Occupancy grid mapping
  • Launch file: tier4_perception_component.launch.xml

CUDA Variant#

sensing-perception-cuda accelerates point cloud processing and neural network inference on NVIDIA GPUs. It is published for amd64 only and requires NVIDIA Container Toolkit. Deployments that use it today:

  • Logging Simulation GPU overlay (docker-compose.gpu.yaml; CLI --gpu injects SENSING_PERCEPTION_GPU_IMAGE)
  • CARLA Simulation (--gpu; Compose defaults to sensing-perception-cuda, override in config.local.env)