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

0.53.0 (2026-09-29)

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

• 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 ---------

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.52.0 (2026-06-30)

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

• refactor(object_merger): fix to improve readability beside copy (#12782) fix to improve readability

• fix(autoware_object_merger): disable test when agnocast enabled (#12773) disable test when agnocast enabled

• feat(object_merger): apply [agnocast_wrapper::Node]{.title-ref} to object_merger (#12704)

  • apply agnocast
  • style(pre-commit): autofix
  • apply to fusion_merger
  • style(pre-commit): autofix
  • delete unnecessary comments
  • delete unnecessary
  • fix for non-copy

  * delete unnecessary blank space ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• fix(autoware_object_merger): add parameter for new added classes ANIMAL and HAZARD (#12736)

  • fix(autoware_object_merger): add parameter for new added classes ANIMAL and HAZARD

  * fix: update overloap judge ---------

• feat(perception): add new cluster and merger (#12682)

  • feat: add label-based clustering algorithm
  • feat: update cluster
  • feat: update cluster
  • feat(object_merger): add a new merger (#2906)
  • fix: missign mapped_label
  • chore: move shape policy to launch
  • fix: label_based_EU node name
  • fix: using voxel_based EC
  • feat: add support of keeping dimensions option
  • feat: replace convex hull by union
  • style(pre-commit): autofix
  • refactor: shape fitting
  • refactor: min/max computation
  • refactor: define UnionGeometry
  • refactor: separate grouping sub objects and building fused objects into two functions
  • refactor: seprate functions
  • feat: add support of hazard
  • docs: add document for LabelBasedEuclideanCluster
  • chore: fix spell check
  • chore: fix launcher
  • chore: modify pushable_pullable to pedestrian
  • chore: add schema file for label_based_euclidean_cluster

  * chore: add schema file for object_fusion_merger ---------Co-authored-by: badai-nguyen <<dai.nguyen@tier4.jp>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Koichi Imai, Kotaro Uetake, badai nguyen, github-actions

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

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