ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]
Messages
Services
Plugins
Recent questions tagged autoware_bytetrack at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 0.47.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-08-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Manato HIRABAYASHI
- Yoshi RI
- Taekjin Lee
- Lei Gu
Authors
bytetrack
Purpose
The core algorithm, named ByteTrack, mainly aims to perform multi-object tracking.
Because the algorithm associates almost every detection box including ones with low detection scores,
the number of false negatives is expected to decrease by using it.
Inner-workings / Algorithms
Cite
- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, “ByteTrack: Multi-Object Tracking by Associating Every Detection Box”, in the proc. of the ECCV 2022, [ref]
- This package is ported version toward Autoware from this repository (The C++ implementation by the ByteTrack’s authors)
2d tracking modification from original codes
The paper just says that the 2d tracking algorithm is a simple Kalman filter.
Original codes use the top-left-corner and aspect ratio and size as the state vector.
This is sometimes unstable because the aspect ratio can be changed by the occlusion.
So, we use the top-left and size as the state vector.
Kalman filter settings can be controlled by the parameters in config/bytetrack_node.param.yaml.
Inputs / Outputs
bytetrack_node
Input
| Name | Type | Description |
|---|---|---|
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
Output
| Name | Type | Description |
|---|---|---|
out/objects |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
out/objects/debug/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
bytetrack_visualizer
Input
| Name | Type | Description |
|---|---|---|
in/image |
sensor_msgs/Image or sensor_msgs/CompressedImage
|
The input image on which object detection is performed |
in/rect |
tier4_perception_msgs/DetectedObjectsWithFeature |
The detected objects with 2D bounding boxes |
in/uuid |
tier4_perception_msgs/DynamicObjectArray |
The universally unique identifiers (UUID) for each object |
Output
| Name | Type | Description |
|---|---|---|
out/image |
sensor_msgs/Image |
The image that detection bounding boxes and their UUIDs are drawn |
Parameters
bytetrack_node
| Name | Type | Default Value | Description |
|---|---|---|---|
track_buffer_length |
int | 30 | The frame count that a tracklet is considered to be lost |
bytetrack_visualizer
| Name | Type | Default Value | Description |
|---|---|---|---|
use_raw |
bool | false | The flag for the node to switch sensor_msgs/Image or sensor_msgs/CompressedImage as input |
Assumptions/Known limits
Reference repositories
License
The codes under the lib directory are copied from the original codes and modified.
The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0:
MIT License
Copyright (c) 2021 Yifu Zhang
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
File truncated at 100 lines see the full file
Changelog for package autoware_bytetrack
0.47.0 (2025-08-11)
-
feat: enhance bytracker classification management (#10898)
- feat: enhance bytracker classification management
- fix a bug in score reset after switching label
* feat: update the score rule for same label ---------
-
Contributors: Yuxuan Liu
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
-
Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
-
chore: perception code owner update (#10645)
- chore: update maintainers in multiple perception packages
* Revert "chore: update maintainers in multiple perception packages" This reverts commit f2838c33d6cd82bd032039e2a12b9cb8ba6eb584.
- chore: update maintainers in multiple perception packages
* chore: add Kok Seang Tan as maintainer in multiple perception packages ---------
-
Contributors: Taekjin LEE, TaikiYamada4
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- refactor: add autoware_cuda_dependency_meta (#10073)
- Contributors: Esteve Fernandez, Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- fix(autoware_bytetrack): fix bugprone-reserved-identifier (#9647) fix: bugprone-reserved-identifier
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
Merge branch 'main' into release-0.40.0
-
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
chore(package.xml): bump version to 0.39.0 (#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
-
fix: fix ticket links in CHANGELOG.rst (#9588)
-
feat(bytetrack): remove unreachable code block from lapjv.h (#9563)
-
fix(cpplint): include what you use - perception
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/bytetrack.launch.xml
-
- in_image [default: /sensing/camera/camera0/image_rect_color]
- in_image_compressed [default: $(var in_image)/compressed]
- detection_rect [default: /perception/object_recognition/detection/rois0]
- tracked_rect [default: /perception/object_recognition/detection/tracked/rois0]
- bytetrack_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack.param.yaml]
- bytetrack_visualizer_param_path [default: $(find-pkg-share autoware_bytetrack)/config/bytetrack_visualizer.param.yaml]
- enable_visualizer [default: true]