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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_radar_fusion_to_detected_object 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
- Yoshi Ri
- Taekjin Lee
Authors
- Satoshi Tanaka
autoware_radar_fusion_to_detected_object
This package contains a sensor fusion module for radar-detected objects and 3D detected objects.
The fusion node can:
- Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control.
- Improve the low confidence 3D detections when corresponding radar detections are found.
Design
Background
This package is the fusion with LiDAR-based 3D detection output and radar data. LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision.
Algorithm
The document of core algorithm is here
Interface for core algorithm
The parameters for core algorithm can be set as core_params
.
Parameters for sensor fusion
-
bounding_box_margin
(double) [m]- Default parameter is 2.0.
This parameter is the distance to extend the 2D bird’s-eye view bounding box on each side. This parameter is used as a threshold to find radar centroids falling inside the extended box.
-
split_threshold_velocity
(double) [m/s]- Default parameter is 5.0.
This parameter is the object’s velocity threshold to decide to split for two objects from radar information. Note that this feature is not currently implemented.
-
threshold_yaw_diff
(double) [rad]- Default parameter is 0.35.
This parameter is the yaw orientation threshold. If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects.
Weight parameters for velocity estimation
To tune these weight parameters, please see document in detail.
-
velocity_weight_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of average twist of radar data in velocity estimation.
-
velocity_weight_median
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of median twist of radar data in velocity estimation.
-
velocity_weight_min_distance
(double) - Default parameter is 1.0.
This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation.
-
velocity_weight_target_value_average
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
-
velocity_weight_target_value_top
(double) - Default parameter is 0.0.
This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects.
Parameters for fixed object information
-
convert_doppler_to_twist
(bool)- Default parameter is false.
This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object.
-
threshold_probability
(float)- Default parameter is 0.4.
This parameter is the threshold to filter output objects. If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object.
-
compensate_probability
(bool)- Default parameter is false.
This parameter is the flag to use probability compensation. If this parameter is true, compensate probability of objects to threshold probability.
Interface for autoware_radar_object_fusion_to_detected_object
Sensor fusion with radar objects and a detected object.
File truncated at 100 lines see the full file
Changelog for package autoware_radar_fusion_to_detected_object
0.47.0 (2025-08-11)
- style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Contributors: Mete Fatih Cırıt
0.46.0 (2025-06-20)
-
Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
-
chore(radar): delete maintainer for radar packages (#10815)
- chore(radar): delete maintainer name
* fix typo ---------
-
Contributors: Satoshi Tanaka, TaikiYamada4
0.45.0 (2025-05-22)
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)
- Contributors: 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)
-
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
-
Contributors: Fumiya Watanabe, Shunsuke Miura, 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
- fix(autoware_radar_fusion_to_detected_object): fix bugprone-errors (#9654) fix: bugprone-error
- Contributors: Fumiya Watanabe, kobayu858
0.40.0 (2024-12-12)
-
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)
-
0.39.0
File truncated at 100 lines see the full file
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_common | |
autoware_lint_common | |
autoware_perception_msgs | |
autoware_utils | |
geometry_msgs | |
message_filters | |
rclcpp | |
rclcpp_components |
System Dependencies
Name |
---|
eigen |
Dependant Packages
Name | Deps |
---|---|
tier4_perception_launch |
Launch files
- launch/radar_object_fusion_to_detected_object.launch.xml
-
- input/objects [default: ~/input/objects]
- input/radars [default: ~/input/radars]
- output/objects [default: ~/output/data]
- config_file [default: $(find-pkg-share autoware_radar_fusion_to_detected_object)/config/radar_object_fusion_to_detected_object.param.yaml]