autoware_lidar_apollo_instance_segmentation

Purpose

This node segments 3D pointcloud data from lidar sensors into obstacles, e.g., cars, trucks, bicycles, and pedestrians based on CNN based model and obstacle clustering method.

Inner-workings / Algorithms

See the original design by Apollo.

Inputs / Outputs

Input

Output

Parameters

Node Parameters

None

Core Parameters

Assumptions / Known limits

There is no training code for CNN model.

Note

This package makes use of three external codes. The trained files are provided by apollo. The trained files are automatically downloaded when you build.

Original URL

• VLP-16 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne16/deploy.caffemodel
• HDL-64 : https://github.com/ApolloAuto/apollo/raw/88bfa5a1acbd20092963d6057f3a922f3939a183/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne64/deploy.caffemodel
• VLS-128 : https://github.com/ApolloAuto/apollo/raw/91844c80ee4bd0cc838b4de4c625852363c258b5/modules/perception/production/data/perception/lidar/models/cnnseg/velodyne128/deploy.caffemodel

Supported lidars are velodyne 16, 64 and 128, but you can also use velodyne 32 and other lidars with good accuracy.

1. apollo 3D Obstacle Perception description

   /******************************************************************************
   * Copyright 2017 The Apollo Authors. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *****************************************************************************/
   

1. tensorRTWrapper : It is used under the lib directory.

```txt MIT License

Copyright (c) 2018 lewes6369

Permission is hereby granted, free of charge, to any person obtaining a copy

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Changelog for package autoware_lidar_apollo_instance_segmentation

0.47.0 (2025-08-11)

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)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

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

• feat(autoware_lidar_apollo_instance_segmentation): tier4_debug_msgs to autoware_internal_debug_msgs in files perce… (#9876) feat: tier4_debug_msgs to autoware_internal_debug_msgs in files perception/autoware_lidar_apollo_instance_segmentation Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>

• refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components (#9762)

  • refactor(autoware_tensorrt_common): multi-TensorRT compatibility & tensorrt_common as unified lib for all perception components
  • style(pre-commit): autofix
  • style(autoware_tensorrt_common): linting

  * style(autoware_lidar_centerpoint): typo Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  * docs(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • fix(autoware_lidar_transfusion): reuse cast variable
  • fix(autoware_tensorrt_common): remove deprecated inference API

  * style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  * style(autoware_tensorrt_common): grammar Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

  • fix(autoware_tensorrt_common): const pointer
  • fix(autoware_tensorrt_common): remove unused method declaration

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