Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]
Messages
Services
Plugins
Recent questions tagged front_vehicle_velocity_estimator at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Tanaka
- Shunsuke Miura
Authors
- Satoshi Tanaka
front_vehicle_velocity_estimator
This package contains a front vehicle velocity estimation for offline perception module analysis. This package can:
- Attach velocity to 3D detections from velocity estimation with LiDAR pointcloud.
Algorithm
- Processing flow
- Choose front vehicle from front area objects.
- Choose nearest neighbor point within front vehicle.
- Estimate velocity of front vehicle by using the differentiated value from time series of nearest neighbor point positions.
- Compensate ego vehicle twist
Input
Name | Type | Description |
---|---|---|
~/input/objects |
autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
~/input/pointcloud |
sensor_msgs/msg/PointCloud2.msg | LiDAR pointcloud. |
~/input/odometry |
nav_msgs::msg::Odometry.msg | Odometry data. |
Output
Name | Type | Description |
---|---|---|
~/output/objects |
autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. |
~/debug/nearest_neighbor_pointcloud |
sensor_msgs/msg/PointCloud2.msg | The pointcloud msg of nearest neighbor point. |
Node parameter
Name | Type | Description | Default value |
---|---|---|---|
update_rate_hz |
double | The update rate [hz]. | 10.0 |
Core parameter
Name | Type | Description | Default value |
---|---|---|---|
moving_average_num |
int | The moving average number for velocity estimation. | 1 |
threshold_pointcloud_z_high |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z > threshold_pointcloud_z_high , the point is considered to noise. |
1.0f |
threshold_pointcloud_z_low |
float | The threshold for z position value of point when choosing nearest neighbor point within front vehicle [m]. If z < threshold_pointcloud_z_low , the point is considered to noise like ground. |
0.6f |
threshold_relative_velocity |
double | The threshold for min and max of estimated relative velocity ($v_{re}$) [m/s]. If $v_{re}$ < - threshold_relative_velocity , then $v_{re}$ = - threshold_relative_velocity . If $v_{re}$ > threshold_relative_velocity , then $v_{re}$ = threshold_relative_velocity . |
10.0 |
threshold_absolute_velocity |
double | The threshold for max of estimated absolute velocity ($v_{ae}$) [m/s]. If $v_{ae}$ > threshold_absolute_velocity , then $v_{ae}$ = threshold_absolute_velocity . |
20.0 |
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/front_vehicle_velocity_estimator.launch.xml
-
- input/objects [default: ~/input/objects]
- input/pointcloud [default: ~/input/pointcloud]
- input/odometry [default: /localization/kinematic_state]
- output/objects [default: ~/output/objects]
- debug/nearest_neighbor_pointcloud [default: ~/debug/nearest_neighbor_pointcloud]
- core_params.moving_average_num [default: 1]