autoware_compare_map_segmentation

Purpose

The autoware_compare_map_segmentation is a package that filters the ground points from the input pointcloud by using map info (e.g. pcd, elevation map or split map pointcloud from map_loader interface).

Inner-workings / Algorithms

Compare Elevation Map Filter

Compare the z of the input points with the value of elevation_map. The height difference is calculated by the binary integration of neighboring cells. Remove points whose height difference is below the height_diff_thresh.

Distance Based Compare Map Filter

This filter compares the input pointcloud with the map pointcloud using the nearestKSearch function of kdtree and removes points that are close to the map point cloud. The map pointcloud can be loaded statically at once at the beginning or dynamically as the vehicle moves.

Voxel Based Approximate Compare Map Filter

The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them.

Voxel Based Compare Map Filter

The filter loads the map pointcloud (static loading whole map at once at beginning or dynamic loading during vehicle moving) and utilizes VoxelGrid to downsample map pointcloud.

For each point of input pointcloud, the filter use getCentroidIndexAt combine with getGridCoordinates function from VoxelGrid class to check if the downsampled map point existing surrounding input points. Remove the input point which has downsampled map point in voxels containing or being close to the point.

Voxel Distance based Compare Map Filter

This filter is a combination of the distance_based_compare_map_filter and voxel_based_approximate_compare_map_filter. The filter loads the map point cloud, which can be loaded statically at the beginning or dynamically during vehicle movement, and creates a voxel grid and a k-d tree of the map point cloud. The filter uses the getCentroidIndexAt function in combination with the getGridCoordinates function from the VoxelGrid class to find input points that are inside the voxel grid and removes them. For points that do not belong to any voxel grid, they are compared again with the map point cloud using the radiusSearch function of the k-d tree and are removed if they are close enough to the map.

Lanelet Elevation Filter

The Lanelet Elevation Filter filters point clouds based on lanelet elevation information. It creates a grid-based elevation map from lanelet data and filters out points that deviate significantly from the expected road surface height. This filter is useful for removing floating objects, overpass structures, and other non-road elements that should not be considered for ground-level navigation.

The filter processes lanelet maps to extract elevation information at regular grid intervals and uses this information to validate incoming point cloud data. Points that are too far above or below the expected lanelet surface elevation are filtered out.

If incoming point cloud frame differs from target_frame, points will be transformed to target_frame before elevation check.

Inputs / Outputs

Compare Elevation Map Filter

Input

Output

Parameters

Lanelet Elevation Filter

Input

Output

Parameters

Other Filters

Input

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Changelog for package autoware_compare_map_segmentation

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• chore(pre-commit): update clang-format to v22.1.5 (#13126)

  • chore(pre-commit): update clang-format to v22.1.5

  * style(pre-commit): autofix ---------

• fix(pre-commit): update pre-commit-hooks-ros to v0.10.3 and adapt include guards (#13083)

  • chore: sync files

  * fix(pre-commit): adapt include guards to pre-commit-hooks-ros v0.10.3 ros-include-guard v0.10.3 only recognises an include guard when #endif is the last non-empty line of the file, so that feature test macros are no longer mistaken for guards. 29 headers failed that check. 25 headers wrap the guard in "// clang-format off" / "// clang-format on" because the #endif comment plus its // NOLINT exceeds the 100 column limit. Drop only the trailing "on" marker; the "off" marker then runs to end of file and still protects the line from being wrapped. 3 CUDA headers ended with "/* INDENT-ON /". Move it above the #endif so it stays paired with the "/ INDENT-OFF */" near the top of the file. autoware_behavior_path_planner/test/input.hpp closed its guard immediately after opening it, leaving the entire body unguarded. Move the #endif to the end. Also hold clang-format at v21.1.8. clang-format 22 migrates "AlignAfterOpenBracket: AlwaysBreak" to "BreakAfterOpenBracketIf: true", which forces a break after every "if (" whose condition does not fit on one line and reformats 88 files. ---------Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Taekjin LEE, awf-autoware-bot[bot]

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• chore(perception): move perception node configuration file to each package (#12440) move perception node configuration file to each package

• refactor(autoware_universe): use autoware_ament_auto_package in perception utility packages (#12281) Co-authored-by: github-actions <<github-actions@github.com>>

• revert: feat(compare_map_filter) apply agnocast publisher to [voxel_compare_map_filter]{.title-ref} (#12346) Revert "feat(compare_map_filter): apply agnocast publisher to [voxel_based_compare_map_filter]{.title-ref} (#12304)" This reverts commit d702d678392837529fad335c4fce38cfff95f64b.

• feat(compare_map_filter): apply agnocast publisher to [voxel_based_compare_map_filter]{.title-ref} (#12304)

  • apply agnocast publisher to voxel_based_compare_map_filter
  • style(pre-commit): autofix
  • delete agnocastlib dependency
  • add agnocast dependency to voxel_based_compare_map_filter.launch.xml
  • add TODO coment
  • style(pre-commit): autofix
  • clang-format

  * dummy change for ci ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• fix(compare_map_segmentation): ignore Werror=array-bounds (#12316)

• perf(perception): use emplace_back and emplace to avoid temporary object creation (#12201)

  • perf(perception): use emplace_back to avoid temporary object creation

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