object_merger

Purpose

object_merger is a package for merging detected objects from two methods by data association.

Inner-workings / Algorithms

The successive shortest path algorithm is used to solve the data association problem (the minimum-cost flow problem). The cost is calculated by the distance between two objects and gate functions are applied to reset cost, s.t. the maximum distance, the maximum area and the minimum area.

Inputs / Outputs

Input

Output

Parameters

• object association merger

{{ json_to_markdown(“perception/autoware_object_merger/schema/object_association_merger.schema.json”) }}

• data association matrix

{{ json_to_markdown(“perception/autoware_object_merger/schema/data_association_matrix.schema.json”) }}

• overlapped judge

{{ json_to_markdown(“perception/autoware_object_merger/schema/overlapped_judge.schema.json”) }}

Tips

• False Positive Unknown object detected by clustering method sometimes raises the risk of sudden stop and interferes with Planning module. If ML based detector rarely misses objects, you can tune the parameter of object_merger and make Perception module ignore unknown objects.
  • If you want to remove unknown object close to large vehicle,
    • use HIGH distance_threshold_list
      • However, this causes high computational load
    • use LOW precision_threshold_to_judge_overlapped
    • use LOW generalized_iou_threshold
      • However, these 2 params raise the risk of overlooking object close to known object.

Assumptions / Known limits

(Optional) Error detection and handling

(Optional) Performance characterization

(Optional) References/External links

(Optional) Future extensions / Unimplemented parts

Data association algorithm was the same as that of multi_object_tracker, but the algorithm of multi_object_tracker was already updated.

Changelog for package autoware_object_merger

0.47.0 (2025-08-11)

• fix(autoware_object_merger): add merger priority_mode (#11042)

  * fix: add merger priority_mode fix: add priority mode into launch fix: add class based priority matrix fix: adjust priority matrix

  • fix: add Confidence mode support
  • docs: schema update
  • fix: launch

  * fix: schema json ---------

• Contributors: badai nguyen

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)

• Merge remote-tracking branch 'origin/main' into humble

• feat(object_merger): add diagnostics warning for timeout when merging (#10283)

  • feat(object_merger): add diagnostics warning for timeout when merge messages are incomplete
  • feat(object_merger): add parameters loading
  • style(pre-commit): autofix
  • feat(object_merger): add schema parameters
  • feat(object_merger): 1. add initialization timeout check 2. handle for now() uninitialized problem in constructor 3. threshold tuned
  • feat(object_merger): threshold modified and schema accordingly
  • feat(object_merger): check both interval and elapsed time

  * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  • feat(object_merger): only update the message arrival timing in objectCallback
  • feat(object_merger): checkstatus impl moved to diagcallback

  * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <<technolojin@gmail.com>>

• Contributors: Ryohsuke Mitsudome, lei.gu

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)
• Contributors: Hayato Mizushima, Yutaka Kondo

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